Package frc.robot.shared.config

Class AbstractVelocitySubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.shared.config.AbstractMotorSubsystemConfig

frc.robot.shared.config.AbstractVelocitySubsystemConfig

Direct Known Subclasses:

FeederSubsystemConfig, IndexerSubsystemConfig, IntakeSubsystemConfig, ShooterSubsystemConfig

public abstract class AbstractVelocitySubsystemConfig
extends AbstractMotorSubsystemConfig

Configuration values for subsystems that maintain a target velocity using feedforward and PID control.

Velocity motion profile parameters (max velocity, acceleration, tolerances, settle time, idle velocity) are organized into a nested VelocityMotionConfig bundle. All RPM values represent mechanism (flywheel) speed after gear reduction, not motor shaft speed. PID and feedforward gains are inherited from AbstractMotorSubsystemConfig.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
VelocityMotionConfig	motionProfile	Velocity motion profile parameters for this velocity subsystem.

Fields inherited from class frc.robot.shared.config.AbstractMotorSubsystemConfig

feedforward, motorConfig, pid, sysId

Fields inherited from class frc.robot.shared.config.AbstractSubsystemConfig

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
AbstractVelocitySubsystemConfig()

Method Summary

Methods inherited from class frc.robot.shared.config.AbstractSubsystemConfig

getVerbose

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

motionProfile

public VelocityMotionConfig motionProfile

Velocity motion profile parameters for this velocity subsystem.

Constructor Details

AbstractVelocitySubsystemConfig

public AbstractVelocitySubsystemConfig()