Package com.crossbotics.ftchelper.mechanism

Interface AngleDevice

All Superinterfaces:
Subsystem
All Known Implementing Classes:
PositionServo
public interface AngleDevice extends Subsystem
Anything that goes to an angle and can say when it is there: a servo with degrees set up (PositionServo), a launcher's hood on a servo or a motor with an encoder (robot.Hood), or your own part (a CR servo with an absolute encoder). A launcher's hood is one of these, so the launcher does not care what moves it. 

 public class MyHood implements AngleDevice {
     public void setDegrees(double deg) { ... }           // start moving there (never wait)
     public double getTargetDegrees() { ... }              // where it is going (NaN = never sent)
     public boolean isDone() { ... }                       // there (by a sensor, or a time estimate)
     public void update() { ... }                          // every loop
 }
 launcher.hood(new MyHood(...));

"Angle" is the device's own scale: degrees if you measured them, or plain servo positions or encoder ticks if you did not (then a shot table's hood column holds those). Docs: docs/modules/mechanism.md

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getTargetDegrees()
    The angle it is going to (after its limits), or NaN before the first command.
    boolean
    isDone()
    True when it is (or, without a sensor, should be) at its target.
    void
    setDegrees(double degrees)
    Starts moving to this angle (kept inside its limits).

    Methods inherited from interface com.crossbotics.ftchelper.core.Subsystem

    addTelemetry, name, stop, update

  • Method Details

    • setDegrees

      void setDegrees(double degrees)
      Starts moving to this angle (kept inside its limits). Quick: never waits.

    • getTargetDegrees

      double getTargetDegrees()
      The angle it is going to (after its limits), or NaN before the first command.

    • isDone

      boolean isDone()
      True when it is (or, without a sensor, should be) at its target.