Package frc.robot.subsystems.feeder.devices

Class FeederMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractVelocityMotor<MotorConfig>

frc.robot.subsystems.feeder.devices.FeederMotor

All Implemented Interfaces:

Motor, MotorIO

public class FeederMotor
extends AbstractVelocityMotor<MotorConfig>

SparkMax-backed feeder belt motor configured from the feeder subsystem config.

Inherits coast-mode idle, gearing, live-tunable configuration, and telemetry from AbstractVelocityMotor. The belt spins continuously in both directions, so soft limits are typically not used.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.devices.motor.MotorIO

MotorIO.MotorIOInputs

Field Summary

Fields inherited from class frc.robot.devices.motor.AbstractMotor

log, motor, name, NOMINAL_VOLTAGE

Method Summary

Modifier and Type	Method	Description
static FeederMotor	create(MotorConfig config)	Creates a feeder motor wrapper using values from the feeder motor config.

Methods inherited from class frc.robot.devices.motor.AbstractVelocityMotor

configureMotor

Methods inherited from class frc.robot.devices.motor.AbstractMotor

computeMechanismRadiansPerMotorRotation, getPositionRadians, getVelocityRadiansPerSecond, getVoltage, init, isInitialized, setEncoderPosition, setVoltage, stop, updateInputs

Methods inherited from class java.lang.Object

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

Method Details

create

public static FeederMotor create(MotorConfig config)

Creates a feeder motor wrapper using values from the feeder motor config.

Use this factory so AbstractMotor.init() is always called after config assignment.

Parameters:

config - feeder motor configuration containing CAN ID, gear ratio, inversion, and current limits

Returns:

configured feeder motor wrapper