Package frc.robot.subsystems.turret.devices

Class TurretMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.subsystems.turret.devices.TurretMotor

All Implemented Interfaces:

Motor, MotorIO

public class TurretMotor
extends AbstractMotor

SparkMax-backed turret motor with baked-in limits, gearing, and telemetry.

Inputs are configured in degrees for approachability; this wrapper converts to radians for WPILib math and AdvantageKit logging via AbstractMotor. Provide the gear ratio as motor rotations per one turret rotation (e.g., 100:1 reduction = 100.0).

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
protected com.revrobotics.spark.config.SparkMaxConfig	configureMotor(com.revrobotics.spark.config.SparkMaxConfig sparkConfig)	Allows subclasses to append motor-specific configuration before the object is applied to hardware.
static TurretMotor	create(MotorConfig config)	Creates a turret motor wrapper using values from the turret motor config.

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 TurretMotor create(MotorConfig config)

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

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

Parameters:

config - turret motor configuration containing CAN ID, gear ratio, inversion, and motion bounds (degrees)

Returns:

configured turret motor wrapper

configureMotor

protected com.revrobotics.spark.config.SparkMaxConfig configureMotor(com.revrobotics.spark.config.SparkMaxConfig sparkConfig)

Description copied from class: AbstractMotor

Allows subclasses to append motor-specific configuration before the object is applied to hardware.

Specified by:

configureMotor in class AbstractMotor

Parameters:

sparkConfig - initial SparkMaxConfig with default voltage compensation

Returns:

configured SparkMaxConfig ready for SparkMax.configure(com.revrobotics.spark.config.SparkBaseConfig, com.revrobotics.spark.SparkBase.ResetMode, com.revrobotics.spark.SparkBase.PersistMode)