Package com.crossbotics.ftchelper.robot

Class Claw

java.lang.Object

com.crossbotics.ftchelper.robot.Module<Claw>

com.crossbotics.ftchelper.robot.ServoPositions<Claw>

com.crossbotics.ftchelper.robot.Claw

All Implemented Interfaces:

Subsystem, Toggleable

public final class Claw
extends ServoPositions<Claw>
implements Toggleable

A claw on one servo: open and closed, plus any other positions you name.

 claw = add(Claw.servo("claw"));                                   // Robot.java

 public static class Claw {                                         // Tunables.java (servo 0 to 1)
     public static double open = 0.20, closed = 0.75;
 }
 

Suggested button: operator B opens and closes it. Docs: docs/modules/robot.md (section "Claw")

Method Summary

Modifier and Type	Method	Description
void	close()	Closes it (goes to "closed").
boolean	isClosed()	True if its last command was "closed".
void	open()	Opens it (goes to "open").
static Claw	servo(String servo)	A claw on this servo.
void	toggle()	Closes it if it is open, else opens it.

Methods inherited from class com.crossbotics.ftchelper.robot.ServoPositions

addTelemetry, fullRange, goTo, isAt, isDone, part, positions, reversed, stop, update

Methods inherited from class com.crossbotics.ftchelper.robot.Module

deviceName, isOptional, isPresent, looks, name, optional, part, tunables, zone, zoneAbove, zoneBelow

Methods inherited from class java.lang.Object

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

Method Details

servo

public static Claw servo(String servo)

A claw on this servo.

Parameters:

servo - the servo's configuration name

open

public void open()

Opens it (goes to "open").

close

public void close()

Closes it (goes to "closed").

toggle

public void toggle()

Closes it if it is open, else opens it.

Specified by:

toggle in interface Toggleable

isClosed

public boolean isClosed()

True if its last command was "closed".