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

Class PixelArm.Parameters

java.lang.Object

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

Enclosing interface:

PixelArm

public static class PixelArm.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.
int	elevatorLowerLimit	The lower limit of the elevator motor's range in encoder ticks
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	elevatorMotor	The elevator motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)
double	elevatorTicksPerMillimeter	How many encoder ticks are traveled by the elevator motor per degree of elevator travel
int	elevatorUpperLimit	The upper limit of the elevator motor's range in encoder ticks
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	pivotMotor	The pivot motor object, already grabbed from the HardwareMap (or pass in a MockDcMotorEx for testing)
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.

pivotMotor

public com.qualcomm.robotcore.hardware.DcMotorEx pivotMotor

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

elevatorMotor

public com.qualcomm.robotcore.hardware.DcMotorEx elevatorMotor

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

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.

elevatorTicksPerMillimeter

public double elevatorTicksPerMillimeter

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

elevatorUpperLimit

public int elevatorUpperLimit

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

elevatorLowerLimit

public int elevatorLowerLimit

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

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?