Package frc.robot.hardware

Class RobotHardware

java.lang.Object

frc.robot.hardware.RobotHardware

public class RobotHardware
extends java.lang.Object

Use this class to control all motors and sensors

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	RobotHardware.Gyro
class	RobotHardware.MecanumDrivetrain
class	RobotHardware.PWMSpark
class	RobotHardware.SparkMax
class	RobotHardware.SparkPair
class	RobotHardware.SPX

Field Summary

Fields

Modifier and Type	Field	Description
edu.wpi.first.wpilibj.BuiltInAccelerometer	Accel	Built-in accelerometer
RobotHardware.SparkPair	cannon	Spark Cannon
RobotHardware.MecanumDrivetrain	drivetrain	use this for the provided mecanum drive
RobotHardware.SparkMax	frontLeft	Front Left brushless motor (ID: 1)
RobotHardware.SparkMax	frontRight	Front Right brushless motor (ID: 3)
com.kauailabs.navx.frc.AHRS	gyro	I^2C Gyro
RobotHardware.PWMSpark	intake	Spark Intake
Limelight	limelight	Limelight Controller
RobotHardware.SparkMax[]	Motors	Represents all the drive motors
Pneumatics	pcm	Pneumatic Control Module
edu.wpi.first.wpilibj.PowerDistribution	pdp	Power Distribution Panel (ID: 5)
RobotHardware.SparkMax	rearLeft	Rear Left brushless motor (ID: 2)
RobotHardware.SparkMax	rearRight	Rear Right brushless motor (ID: 4)
RobotHardware.SparkPair	shooters	Spark Shooters
static double	targetVoltage	Battery Running Voltage

Constructor Summary

Constructors

Constructor	Description
RobotHardware(double period)	Use this class to control all motors and sensors See below for changes

Method Summary

Modifier and Type	Method	Description
double	clip(double value, double min, double max)	Clips the value to fit inbetween the minimum and maximum values
double	setSafeCalcuater(double speed, double currentSpeed)	Calculates out what your motor speed should be

Methods inherited from class java.lang.Object

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

Field Detail

frontLeft

public RobotHardware.SparkMax frontLeft

Front Left brushless motor (ID: 1)

rearLeft

public RobotHardware.SparkMax rearLeft

Rear Left brushless motor (ID: 2)

frontRight

public RobotHardware.SparkMax frontRight

Front Right brushless motor (ID: 3)

rearRight

public RobotHardware.SparkMax rearRight

Rear Right brushless motor (ID: 4)

Motors

public RobotHardware.SparkMax[] Motors

Represents all the drive motors

drivetrain

public RobotHardware.MecanumDrivetrain drivetrain

use this for the provided mecanum drive

shooters

public RobotHardware.SparkPair shooters

Spark Shooters

cannon

public RobotHardware.SparkPair cannon

Spark Cannon

intake

public RobotHardware.PWMSpark intake

Spark Intake

gyro

public com.kauailabs.navx.frc.AHRS gyro

I^2C Gyro

Accel

public edu.wpi.first.wpilibj.BuiltInAccelerometer Accel

Built-in accelerometer

pdp

public edu.wpi.first.wpilibj.PowerDistribution pdp

Power Distribution Panel (ID: 5)

targetVoltage

public static double targetVoltage

Battery Running Voltage

pcm

public Pneumatics pcm

Pneumatic Control Module

limelight

public Limelight limelight

Limelight Controller

Constructor Detail

RobotHardware

public RobotHardware(double period)

Use this class to control all motors and sensors See below for changes

Parameters:

period - what to set the motor expireation to

"Changelog:"

added 4 drive motors

added gyro

changed init function to constructor

Method Detail

setSafeCalcuater

public double setSafeCalcuater(double speed,
                               double currentSpeed)

Calculates out what your motor speed should be

Parameters:

speed - the target speed

currentSpeed - the current speed

Returns:

then new speed

clip

public double clip(double value,
                   double min,
                   double max)

Clips the value to fit inbetween the minimum and maximum values

Parameters:

value - the value to clip

min - the minimum value

max - the maximum value

Returns:

the cliped value