java.lang.Object
org.firstinspires.ftc.teamcode.fy23.robot.subsystems.blank.hardwaredevice.DoubleArmBlank
All Implemented Interfaces:
DoubleArm

public class DoubleArmBlank extends Object implements DoubleArm
A blank implementation of PixelArm that does nothing. Never returns null (returns blank objects instead where applicable), so hopefully no null pointers.
  • Nested Class Summary

    Nested classes/interfaces inherited from interface org.firstinspires.ftc.teamcode.fy23.robot.subsystems.DoubleArm

    DoubleArm.Parameters
  • Constructor Summary

    Constructors
    Constructor
    Description
     
  • Method Summary

    Modifier and Type
    Method
    Description
    int
    Get the current average position of the elevator motors.
    double
    Get the current average power of the elevator motors.
    double
    Get the current average velocity of the elevator motors.
    int
    Get the current average position of the pivot motors.
    double
    Get the current average power of the pivot motors.
    double
    Get the current average velocity of the pivot motors.
    void
    setElevatorDistance(double distance)
    Set the target position of the elevator motors to a distance from the back of the robot.
    void
    setElevatorPower(double power)
    Set the power of the elevator motors.
    void
    setElevatorVelocity(int velocity)
    Set the velocity of the elevator motors in ticks per second.
    void
    setPivotAngle(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit, double angle)
    Set the target position of the pivot motors to an angle.
    void
    setPivotPower(double power)
    Set the power of the pivot motors.
    void
    setPivotVelocity(int velocity)
    Set the velocity of the pivot motors in ticks per second.
    void
    Called by robot.update().

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
  • Constructor Details

    • DoubleArmBlank

      public DoubleArmBlank()
  • Method Details

    • setPivotAngle

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

      public void setPivotPower(double power)
      Description copied from interface: DoubleArm
      Set the power of the pivot motors. 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
      Parameters:
      power - from -1 to 1 just like setPower() on a normal motor
    • getPivotPower

      public double getPivotPower()
      Description copied from interface: DoubleArm
      Get the current average power of the pivot motors.
      Specified by:
      getPivotPower in interface DoubleArm
    • setPivotVelocity

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

      public double getPivotVelocity()
      Description copied from interface: DoubleArm
      Get the current average velocity of the pivot motors.
      Specified by:
      getPivotVelocity in interface DoubleArm
    • getPivotPosition

      public int getPivotPosition()
      Description copied from interface: DoubleArm
      Get the current average position of the pivot motors.
      Specified by:
      getPivotPosition in interface DoubleArm
    • setElevatorDistance

      public void setElevatorDistance(double distance)
      Description copied from interface: DoubleArm
      Set the target position of the elevator motors to a distance from the back of the robot.
      Specified by:
      setElevatorDistance in interface DoubleArm
      Parameters:
      distance - in inches
    • setElevatorPower

      public void setElevatorPower(double power)
      Description copied from interface: DoubleArm
      Set the power of the elevator motors. 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
      Parameters:
      power - from -1 to 1, just like setPower() on a normal motor
    • getElevatorPower

      public double getElevatorPower()
      Description copied from interface: DoubleArm
      Get the current average power of the elevator motors.
      Specified by:
      getElevatorPower in interface DoubleArm
    • setElevatorVelocity

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

      public double getElevatorVelocity()
      Description copied from interface: DoubleArm
      Get the current average velocity of the elevator motors.
      Specified by:
      getElevatorVelocity in interface DoubleArm
    • getElevatorPosition

      public int getElevatorPosition()
      Description copied from interface: DoubleArm
      Get the current average position of the elevator motors.
      Specified by:
      getElevatorPosition in interface DoubleArm
    • update

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