Package frc.robot.subsystems.shooter.devices

Class ShooterMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

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

frc.robot.subsystems.shooter.devices.ShooterMotor

All Implemented Interfaces:

Motor, MotorIO

public class ShooterMotor
extends AbstractVelocityMotor<MotorConfig>

SparkMax-backed shooter flywheel motor configured from the shooter subsystem config.

Inherits coast-mode idle, gearing, live-tunable configuration, and telemetry from AbstractVelocityMotor. The flywheel spins continuously, 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 ShooterMotor	create(MotorConfig config)	Creates a shooter motor wrapper using values from the shooter 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 ShooterMotor create(MotorConfig config)

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

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

Parameters:

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

Returns:

configured shooter motor wrapper