Package frc.robot.subsystems.indexer.devices

Class IndexerMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

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

frc.robot.subsystems.indexer.devices.IndexerMotor

All Implemented Interfaces:

Motor, MotorIO

public class IndexerMotor
extends AbstractVelocityMotor<MotorConfig>

SparkMax-backed indexer motor configured from the indexer subsystem config.

Inherits coast-mode idle, gearing, live-tunable configuration, and telemetry from AbstractVelocityMotor. The roller 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 IndexerMotor	create(MotorConfig config)	Creates an indexer motor wrapper using values from the indexer 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 IndexerMotor create(MotorConfig config)

Creates an indexer motor wrapper using values from the indexer motor config.

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

Parameters:

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

Returns:

configured indexer motor wrapper