Package frc.robot.subsystems.indexer.config

Class IndexerSubsystemConfig

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.indexer.config.IndexerSubsystemConfig

public class IndexerSubsystemConfig
extends AbstractVelocitySubsystemConfig

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

Velocity limits, PID gains, feedforward gains, and settle time are inherited from AbstractVelocitySubsystemConfig. Indexer-specific fields cover the default feed speed and reverse speed for clearing.

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	feedVelocityRpm	Default forward velocity used for feeding Fuel into the shooter, in RPM.
double	reverseVelocityRpm	Reverse velocity used for clearing jams or backing Fuel toward the feeder, 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
IndexerSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
double	getFeedVelocityRpm()	Returns the default feed velocity, tuned via SmartDashboard.
double	getReverseVelocityRpm()	Returns the reverse velocity for clearing jams, 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

feedVelocityRpm

public double feedVelocityRpm

Default forward velocity used for feeding Fuel into the shooter, in RPM.

reverseVelocityRpm

public double reverseVelocityRpm

Reverse velocity used for clearing jams or backing Fuel toward the feeder, in RPM. Stored as a positive value; the subsystem negates it.

Constructor Details

IndexerSubsystemConfig

public IndexerSubsystemConfig()

Method Details

getFeedVelocityRpm

public double getFeedVelocityRpm()

Returns the default feed velocity, tuned via SmartDashboard.

Returns:

feed velocity in RPM (positive value; forward into the shooter)

getReverseVelocityRpm

public double getReverseVelocityRpm()

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

Returns:

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