Package ca.retrylife.frc.templates.turrets

Class ProfiledTurret

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

ca.retrylife.frc.templates.turrets.TurretBase

ca.retrylife.frc.templates.turrets.ProfiledTurret

All Implemented Interfaces:

Sendable, Subsystem

public class ProfiledTurret
extends TurretBase

The ProfiledTurret class is to be used to control a turret of any kind. This specifically is designed for turrets that do not support infinite rotation, and will use motion profiling to plan the quickest path around a turret's deadband zone.

Field Summary

Fields inherited from class ca.retrylife.frc.templates.turrets.TurretBase

deadzone

Constructor Summary

Constructors

Constructor	Description
ProfiledTurret(SpeedController motor, java.util.function.Supplier<Rotation2d> turretAngleSupplier, ProfiledPIDController turretPID, Rotation2d minDeadzoneAngle, Rotation2d maxDeadzoneAngle, Rotation2d epsilon)	Create a ProfiledTurret

Method Summary

Modifier and Type	Method	Description
boolean	isAligned()	Get if the turret is aligned with its goal
void	lookAt(Rotation2d angle)	Tell the turret to look at a robot-relative angle
void	periodic()
void	stop()	Stop the turret

Methods inherited from class ca.retrylife.frc.templates.turrets.TurretBase

findDistanceFromAToB, lookAt

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, setName, setName, setName

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Constructor Detail

ProfiledTurret

public ProfiledTurret(SpeedController motor,
                      java.util.function.Supplier<Rotation2d> turretAngleSupplier,
                      ProfiledPIDController turretPID,
                      Rotation2d minDeadzoneAngle,
                      Rotation2d maxDeadzoneAngle,
                      Rotation2d epsilon)

Create a ProfiledTurret

Parameters:

motor - Turret motor controller(s)

turretAngleSupplier - Supplier of the turret's robot-relative angle

turretPID - PID gain constants for the turret

minDeadzoneAngle - Robot-relative angle where the turret deadzone starts

maxDeadzoneAngle - Robot-relative angle where the turret deadzone ends

epsilon - Turret angle epsilon

Method Detail

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

Specified by:

periodic in class TurretBase

lookAt

public void lookAt(Rotation2d angle)

Description copied from class: TurretBase

Tell the turret to look at a robot-relative angle

Specified by:

lookAt in class TurretBase

Parameters:

angle - Robot-relative angle

isAligned

public boolean isAligned()

Description copied from class: TurretBase

Get if the turret is aligned with its goal

Specified by:

isAligned in class TurretBase

Returns:

Is the turret aligned?

stop

public void stop()

Description copied from class: TurretBase

Stop the turret

Specified by:

stop in class TurretBase