Package frc.robot.subsystems.feeder.config

Class FeederSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.shared.config.AbstractMotorSubsystemConfig

frc.robot.shared.config.AbstractVelocitySubsystemConfig

frc.robot.subsystems.feeder.config.FeederSubsystemConfig

public class FeederSubsystemConfig
extends AbstractVelocitySubsystemConfig

Configuration bundle for the feeder subsystem. All RPM values represent belt (mechanism) speed after gear reduction, not motor shaft speed.

Velocity limits, PID gains, feedforward gains, and settle time are inherited from AbstractVelocitySubsystemConfig. Feeder-specific fields cover the default forward transport speed and the reverse speed used for clearing Fuel back toward the intake.

Nested Class Summary

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

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
double	forwardVelocityRpm	Default forward velocity used for transporting Fuel toward the indexer, in RPM.
double	reversePulseDurationSeconds	Duration of the reverse pulse used to unstick Fuel before running the belt forward, in seconds.
double	reverseVelocityRpm	Reverse velocity used for clearing Fuel back toward the intake, in RPM.

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

motionProfile

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
FeederSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
double	getForwardVelocityRpm()	Returns the default forward transport velocity, tuned via SmartDashboard.
double	getReversePulseDurationSeconds()	Returns the duration of the reverse pulse used to unstick Fuel before running forward, tuned via SmartDashboard.
double	getReverseVelocityRpm()	Returns the reverse velocity for clearing Fuel, tuned via SmartDashboard.

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

forwardVelocityRpm

public double forwardVelocityRpm

Default forward velocity used for transporting Fuel toward the indexer, in RPM.

reverseVelocityRpm

public double reverseVelocityRpm

Reverse velocity used for clearing Fuel back toward the intake, in RPM. Stored as a positive value; the subsystem negates it.

reversePulseDurationSeconds

public double reversePulseDurationSeconds

Duration of the reverse pulse used to unstick Fuel before running the belt forward, in seconds.

Constructor Details

FeederSubsystemConfig

public FeederSubsystemConfig()

Method Details

getForwardVelocityRpm

public double getForwardVelocityRpm()

Returns the default forward transport velocity, tuned via SmartDashboard.

Returns:

forward velocity in RPM (positive value; belt moves toward the indexer)

getReverseVelocityRpm

public double getReverseVelocityRpm()

Returns the reverse velocity for clearing Fuel, tuned via SmartDashboard.

Returns:

reverse velocity in RPM (positive value; the subsystem applies the sign)

getReversePulseDurationSeconds

public double getReversePulseDurationSeconds()

Returns the duration of the reverse pulse used to unstick Fuel before running forward, tuned via SmartDashboard.

Returns:

reverse pulse duration in seconds