Package ca.retrylife.frc.templates.turrets

Class TurretBase

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

ca.retrylife.frc.templates.turrets.TurretBase

All Implemented Interfaces:

Sendable, Subsystem

Direct Known Subclasses:

ProfiledTurret

public abstract class TurretBase
extends SubsystemBase

TurretBase is the base class for all turret templates. It contains common methods, and utilities

Field Summary

Fields

Modifier and Type	Field	Description
protected Rotation2d[]	deadzone

Constructor Summary

Constructors

Constructor	Description
TurretBase(Rotation2d minDeadzoneAngle, Rotation2d maxDeadzoneAngle)	Create a TurretBase with a deadzone

Method Summary

Modifier and Type	Method	Description
protected double	findDistanceFromAToB(Rotation2d a, Rotation2d b)	Find the fastest and safest way to get from A to B.
abstract boolean	isAligned()	Get if the turret is aligned with its goal
abstract void	lookAt(Rotation2d angle)	Tell the turret to look at a robot-relative angle
void	lookAt(Translation2d point)	Tell the turret to look at a robot-relative point in space, where (1,1) is 45 degrees
abstract void	periodic()
abstract void	stop()	Stop the turret

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

Field Detail

deadzone

protected Rotation2d[] deadzone

Constructor Detail

TurretBase

public TurretBase(Rotation2d minDeadzoneAngle,
                  Rotation2d maxDeadzoneAngle)

Create a TurretBase with a deadzone

Parameters:

minDeadzoneAngle - Robot-relative angle where the turret deadzone starts

maxDeadzoneAngle - Robot-relative angle where the turret deadzone ends

Method Detail

periodic

public abstract void periodic()

lookAt

public abstract void lookAt(Rotation2d angle)

Tell the turret to look at a robot-relative angle

Parameters:

angle - Robot-relative angle

lookAt

public void lookAt(Translation2d point)

Tell the turret to look at a robot-relative point in space, where (1,1) is 45 degrees

Parameters:

point - Robot-relative point in space

isAligned

public abstract boolean isAligned()

Get if the turret is aligned with its goal

Returns:

Is the turret aligned?

stop

public abstract void stop()

Stop the turret

findDistanceFromAToB

protected double findDistanceFromAToB(Rotation2d a,
                                      Rotation2d b)

Find the fastest and safest way to get from A to B. Treat this function as "if I am at A, and I want to go to B, I must turn X degrees to the right"

Parameters:

a - Current position

b - Goal position

Returns:

Best offset to use