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

Class DoubleArm.Parameters

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.robot.subsystems.DoubleArm.Parameters

Enclosing interface:

DoubleArm

public static class DoubleArm.Parameters
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
AccelLimiter	elevatorAccelLimiter	Pass in an AccelLimiter object that has already been instantiated with the correct parameters for your motor.
double	elevatorLimitBuffer	How much extra space in inches to leave in front of the elevator
int	elevatorLowerLimit	The lower limit of the elevator motor's range in inches
DigitalDevice	elevatorLowerLimitSwitch	Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the elevator reaches its minimum position (in encoder ticks!).
com.qualcomm.robotcore.hardware.DcMotorEx	elevatorMotorLeft	The elevator motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)
com.qualcomm.robotcore.hardware.DcMotorEx	elevatorMotorRight
double	elevatorOffsetLength	The distance in inches from the back of the robot to the start of the elevator slides (the actual slides, not the motor)
double	elevatorTicksPerInch	How many encoder ticks are traveled by the elevator motor per inch of elevator travel
int	elevatorUpperLimit	The upper limit of the elevator motor's range in inches, measured from the back of the robot
DigitalDevice	elevatorUpperLimitSwitch	Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the elevator reaches its maximum position (in encoder ticks!).
double	maxElevatorRecoveryPower	The maximum power to use while the elevator has tripped a limit and is returning to a safe position.
int	maxElevatorVelocity	The maximum velocity of the elevator motor in ticks per second.
double	maxPivotRecoveryPower	The maximum power to use while the pivot arm has tripped a limit and is returning to a safe position.
int	maxPivotVelocity	The maximum velocity of the pivot motor in ticks per second.
AccelLimiter	pivotAccelLimiter	Pass in an AccelLimiter object that has already been instantiated with the correct parameters for your motor.
int	pivotLowerLimit	The lower limit of the pivot motor's range in encoder ticks
DigitalDevice	pivotLowerLimitSwitch	Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the pivot arm reaches its minimum position (in encoder ticks!).
com.qualcomm.robotcore.hardware.DcMotorEx	pivotMotorLeft	The pivot motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)
com.qualcomm.robotcore.hardware.DcMotorEx	pivotMotorRight
double	pivotTicksPerDegree	How many encoder ticks are traveled by the pivot motor per degree of pivot arm rotation
int	pivotUpperLimit	The upper limit of the pivot motor's range in encoder ticks
DigitalDevice	pivotUpperLimitSwitch	Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the pivot arm reaches its maximum position (in encoder ticks!).
final boolean	present	You already set this in the constructor and cannot set it again.
com.qualcomm.robotcore.util.ElapsedTime	stopwatch	UnitTests can pass in a MockElapsedTime.

Constructor Summary

Constructors

Constructor	Description
Parameters(boolean present)	Create a Parameters object and provide parameters that don't have default values.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

present

public final boolean present

You already set this in the constructor and cannot set it again.

pivotMotorLeft

public com.qualcomm.robotcore.hardware.DcMotorEx pivotMotorLeft

The pivot motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)

pivotMotorRight

public com.qualcomm.robotcore.hardware.DcMotorEx pivotMotorRight

elevatorMotorLeft

public com.qualcomm.robotcore.hardware.DcMotorEx elevatorMotorLeft

The elevator motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)

elevatorMotorRight

public com.qualcomm.robotcore.hardware.DcMotorEx elevatorMotorRight

pivotAccelLimiter

public AccelLimiter pivotAccelLimiter

Pass in an AccelLimiter object that has already been instantiated with the correct parameters for your motor.

pivotTicksPerDegree

public double pivotTicksPerDegree

How many encoder ticks are traveled by the pivot motor per degree of pivot arm rotation

pivotUpperLimit

public int pivotUpperLimit

The upper limit of the pivot motor's range in encoder ticks

pivotLowerLimit

public int pivotLowerLimit

The lower limit of the pivot motor's range in encoder ticks

pivotUpperLimitSwitch

public DigitalDevice pivotUpperLimitSwitch

Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the pivot arm reaches its maximum position (in encoder ticks!).

pivotLowerLimitSwitch

public DigitalDevice pivotLowerLimitSwitch

Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the pivot arm reaches its minimum position (in encoder ticks!).

maxPivotRecoveryPower

public double maxPivotRecoveryPower

The maximum power to use while the pivot arm has tripped a limit and is returning to a safe position. This is important because acceleration control is not applied at this stage, so a large value here will cause jolts.

maxPivotVelocity

public int maxPivotVelocity

The maximum velocity of the pivot motor in ticks per second.

elevatorAccelLimiter

public AccelLimiter elevatorAccelLimiter

Pass in an AccelLimiter object that has already been instantiated with the correct parameters for your motor.

elevatorTicksPerInch

public double elevatorTicksPerInch

How many encoder ticks are traveled by the elevator motor per inch of elevator travel

elevatorLimitBuffer

public double elevatorLimitBuffer

How much extra space in inches to leave in front of the elevator

elevatorOffsetLength

public double elevatorOffsetLength

The distance in inches from the back of the robot to the start of the elevator slides (the actual slides, not the motor)

elevatorUpperLimit

public int elevatorUpperLimit

The upper limit of the elevator motor's range in inches, measured from the back of the robot

elevatorLowerLimit

public int elevatorLowerLimit

The lower limit of the elevator motor's range in inches

elevatorUpperLimitSwitch

public DigitalDevice elevatorUpperLimitSwitch

Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the elevator reaches its maximum position (in encoder ticks!).

elevatorLowerLimitSwitch

public DigitalDevice elevatorLowerLimitSwitch

Pass in a DigitalDevice object (an implementation of your choice) to represent a limit switch that is activated when the elevator reaches its minimum position (in encoder ticks!).

maxElevatorRecoveryPower

public double maxElevatorRecoveryPower

The maximum power to use while the elevator has tripped a limit and is returning to a safe position. This is important because acceleration control is not applied at this stage, so a large value here will cause jolts.

maxElevatorVelocity

public int maxElevatorVelocity

The maximum velocity of the elevator motor in ticks per second.

stopwatch

public com.qualcomm.robotcore.util.ElapsedTime stopwatch

UnitTests can pass in a MockElapsedTime.

Constructor Details

Parameters

public Parameters(boolean present)

Create a Parameters object and provide parameters that don't have default values.

Parameters:

present - Is this subsystem installed on this robot?