Package org.firstinspires.ftc.teamcode.fy25.subsystems.launcherwheel

Interface LauncherWheel

All Known Implementing Classes:
LauncherWheelBlank, LauncherWheelImpl
public interface LauncherWheel
Represents a launcher wheel and its state.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    LauncherWheel.Parameters
    You must set some of these if this subsystem is present.
    static enum 
    LauncherWheel.State
    Represents the state of the launcher.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getLaunchVelocity()
    Get the current velocity of the launch wheel.
    LauncherWheel.State
    getState()
    Get the current state of the launcher.
    void
    setLaunchVelocity(double velocity)
    Set the velocity at which the launch wheel will run when it is READY.
    void
    spinDown()
    Remove power from the launch wheel
    void
    spinUp()
    Apply power to the launch wheel
    void
    update()
    Called by robot.update().

  • Method Details

    • spinUp

      void spinUp()
      Apply power to the launch wheel

    • spinDown

      void spinDown()
      Remove power from the launch wheel

    • getState

      LauncherWheel.State getState()
      Get the current state of the launcher. This will be STARTING immediately after calling readyLauncher(), and will become READY once the launch wheel is up to speed.

    • setLaunchVelocity

      void setLaunchVelocity(double velocity)
      Set the velocity at which the launch wheel will run when it is READY. The new velocity to set, in ticks per second.

    • getLaunchVelocity

      double getLaunchVelocity()
      Get the current velocity of the launch wheel.

    • update

      void update()
      Called by robot.update(). You do not need to call this method.