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

Class ArmBlank

java.lang.Object
org.firstinspires.ftc.teamcode.fy23.robot.subsystems.blank.ArmBlank
All Implemented Interfaces:
DoubleArm, PixelArm
public class ArmBlank extends Object implements PixelArm, DoubleArm
A blank implementation of PixelArm and DoubleArm that does nothing. Never returns null (returns blank objects instead where applicable), so hopefully no null pointers.

  • Constructor Details

    • ArmBlank

      public ArmBlank()

  • Method Details

    • setPivotAngle

      public void setPivotAngle(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit, double angle)
      Description copied from interface: PixelArm
      Set the target position of the pivot motor to an angle. Safety limits apply.
      Specified by:
      setPivotAngle in interface DoubleArm
      Specified by:
      setPivotAngle in interface PixelArm
      Parameters:
      unit - See AngleUnit.
      angle - in the AngleUnit you set

    • setPivotPower

      public void setPivotPower(double power)
      Description copied from interface: PixelArm
      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.
      Specified by:
      setPivotPower in interface DoubleArm
      Specified by:
      setPivotPower in interface PixelArm
      Parameters:
      power - from -1 to 1 just like setPower() on a normal motor

    • getPivotPower

      public double getPivotPower()
      Description copied from interface: PixelArm
      Get the current power of the pivot motor.
      Specified by:
      getPivotPower in interface DoubleArm
      Specified by:
      getPivotPower in interface PixelArm

    • setPivotVelocity

      public void setPivotVelocity(int velocity)
      Description copied from interface: PixelArm
      Set the velocity of the pivot motor in ticks per second.
      Specified by:
      setPivotVelocity in interface DoubleArm
      Specified by:
      setPivotVelocity in interface PixelArm
      Parameters:
      velocity - The velocity to set, in ticks per second

    • getPivotVelocity

      public double getPivotVelocity()
      Description copied from interface: PixelArm
      Get the current velocity of the pivot motor.
      Specified by:
      getPivotVelocity in interface DoubleArm
      Specified by:
      getPivotVelocity in interface PixelArm

    • getPivotPosition

      public int getPivotPosition()
      Description copied from interface: PixelArm
      Get the current position of the pivot motor.
      Specified by:
      getPivotPosition in interface DoubleArm
      Specified by:
      getPivotPosition in interface PixelArm

    • setElevatorDistance

      public void setElevatorDistance(double distance)
      Description copied from interface: PixelArm
      Set the target position of the elevator motor to a distance from the fully retracted position.
      Specified by:
      setElevatorDistance in interface DoubleArm
      Specified by:
      setElevatorDistance in interface PixelArm
      Parameters:
      distance - in millimeters

    • setElevatorPower

      public void setElevatorPower(double power)
      Description copied from interface: PixelArm
      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.
      Specified by:
      setElevatorPower in interface DoubleArm
      Specified by:
      setElevatorPower in interface PixelArm
      Parameters:
      power - from -1 to 1, just like setPower() on a normal motor

    • getElevatorPower

      public double getElevatorPower()
      Description copied from interface: PixelArm
      Get the current power of the elevator motor.
      Specified by:
      getElevatorPower in interface DoubleArm
      Specified by:
      getElevatorPower in interface PixelArm

    • setElevatorVelocity

      public void setElevatorVelocity(int velocity)
      Description copied from interface: PixelArm
      Set the velocity of the elevator motor in ticks per second.
      Specified by:
      setElevatorVelocity in interface DoubleArm
      Specified by:
      setElevatorVelocity in interface PixelArm
      Parameters:
      velocity - The velocity to set, in ticks per second

    • getElevatorVelocity

      public double getElevatorVelocity()
      Description copied from interface: PixelArm
      Get the current velocity of the elevator motor.
      Specified by:
      getElevatorVelocity in interface DoubleArm
      Specified by:
      getElevatorVelocity in interface PixelArm

    • getElevatorPosition

      public int getElevatorPosition()
      Description copied from interface: PixelArm
      Get the current position of the elevator motor.
      Specified by:
      getElevatorPosition in interface DoubleArm
      Specified by:
      getElevatorPosition in interface PixelArm

    • update

      public void update()
      Description copied from interface: PixelArm
      Called by robot.update(). You do not need to call this method.
      Specified by:
      update in interface DoubleArm
      Specified by:
      update in interface PixelArm