Package com.flarerobotics.lib.control.positions

Interface ISubsystemPosition

public interface ISubsystemPosition
An interface allowing users to have a custom enum of subsystem positions.

Useful for storing data together, such as arm positions along with elevator positions.

  • Method Summary

    Modifier and Type
    Method
    Description
    default double
    getAngle()
    For position-controlled subsystem positions.
    default double
    getAngle(String id)
    For position-controlled subsystem positions.
    default edu.wpi.first.units.measure.Distance
    getHeight()
    For linear mechanism positions.
    default double
    getRPM()
    For angular velocity-controlled subsystem positions.

  • Method Details

    • getHeight

      default edu.wpi.first.units.measure.Distance getHeight()
      For linear mechanism positions.
      Returns:
      The system height.

    • getAngle

      default double getAngle()
      For position-controlled subsystem positions.
      Returns:
      The system's angle in degrees.

    • getAngle

      default double getAngle(String id)
      For position-controlled subsystem positions. Used for when there is more than 1 pivot subsystem.
      Parameters:
      id - The ID of the pivot subsystem.
      Returns:
      The system's angle in degrees.

    • getRPM

      default double getRPM()
      For angular velocity-controlled subsystem positions.
      Returns:
      The system's RPM.