Package org.firstinspires.ftc.teamcode.fy23.robot.subsystems

Interface PixelArm

All Known Implementing Classes:
ArmBlank, PixelArmImpl
@Deprecated public interface PixelArm
Deprecated.
Represents the combination pivot and elevator mechanism and allows both to be controlled by setting their powers independently or by specifying a point on the planar region containing all possible points that this mechanism can reach. Deprecated because the physical hardware this corresponds to no longer exists. A newer generation of it does, driven by DoubleArm (which is a newer generation of PixelArm).

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    PixelArm.Parameters
    Deprecated.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getElevatorPosition()
    Deprecated.
    Get the current position of the elevator motor.
    double
    getElevatorPower()
    Deprecated.
    Get the current power of the elevator motor.
    double
    getElevatorVelocity()
    Deprecated.
    Get the current velocity of the elevator motor.
    int
    getPivotPosition()
    Deprecated.
    Get the current position of the pivot motor.
    double
    getPivotPower()
    Deprecated.
    Get the current power of the pivot motor.
    double
    getPivotVelocity()
    Deprecated.
    Get the current velocity of the pivot motor.
    void
    setElevatorDistance(double distance)
    Deprecated.
    Set the target position of the elevator motor to a distance from the fully retracted position.
    void
    setElevatorPower(double power)
    Deprecated.
    Set the power of the elevator motor.
    void
    setElevatorVelocity(int velocity)
    Deprecated.
    Set the velocity of the elevator motor in ticks per second.
    void
    setPivotAngle(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit, double angle)
    Deprecated.
    Set the target position of the pivot motor to an angle.
    void
    setPivotPower(double power)
    Deprecated.
    Set the power of the pivot motor.
    void
    setPivotVelocity(int velocity)
    Deprecated.
    Set the velocity of the pivot motor in ticks per second.
    void
    update()
    Deprecated.
    Called by robot.update().

  • Method Details

    • setPivotAngle

      void setPivotAngle(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit, double angle)
      Deprecated.
      Set the target position of the pivot motor to an angle. Safety limits apply.
      Parameters:
      unit - See AngleUnit.
      angle - in the AngleUnit you set

    • setPivotPower

      void setPivotPower(double power)
      Deprecated.
      Set the power of the pivot motor. Important when setting an angle - this works like setPower() does on a normal motor in RUN_TO_POSITION mode. This does not actually set power anymore - this sets the velocity to the max. velocity multiplied by your requested power.
      Parameters:
      power - from -1 to 1 just like setPower() on a normal motor

    • getPivotPower

      double getPivotPower()
      Deprecated.
      Get the current power of the pivot motor.

    • setPivotVelocity

      void setPivotVelocity(int velocity)
      Deprecated.
      Set the velocity of the pivot motor in ticks per second.
      Parameters:
      velocity - The velocity to set, in ticks per second

    • getPivotVelocity

      double getPivotVelocity()
      Deprecated.
      Get the current velocity of the pivot motor.

    • getPivotPosition

      int getPivotPosition()
      Deprecated.
      Get the current position of the pivot motor.

    • setElevatorDistance

      void setElevatorDistance(double distance)
      Deprecated.
      Set the target position of the elevator motor to a distance from the fully retracted position.
      Parameters:
      distance - in millimeters

    • setElevatorPower

      void setElevatorPower(double power)
      Deprecated.
      Set the power of the elevator motor. Important when setting a distance - this works like setPower() does on a normal motor in RUN_TO_POSITION mode.
      Parameters:
      power - from -1 to 1, just like setPower() on a normal motor

    • getElevatorPower

      double getElevatorPower()
      Deprecated.
      Get the current power of the elevator motor.

    • setElevatorVelocity

      void setElevatorVelocity(int velocity)
      Deprecated.
      Set the velocity of the elevator motor in ticks per second.
      Parameters:
      velocity - The velocity to set, in ticks per second

    • getElevatorVelocity

      double getElevatorVelocity()
      Deprecated.
      Get the current velocity of the elevator motor.

    • getElevatorPosition

      int getElevatorPosition()
      Deprecated.
      Get the current position of the elevator motor.

    • update

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