frc.robot.subsystems.Arm.ArmSubsystem Class Reference

The subsystem class that is responsible for the Arm. More...

Inheritance diagram for frc.robot.subsystems.Arm.ArmSubsystem:

Public Member Functions
	ArmSubsystem (ArmIO io)
	Associates the Arm Input/Output object with the Arm Subsystem.
void	periodic ()
	Method that will be called once per scheduler run.

Detailed Description

The subsystem class that is responsible for the Arm.

Constructor & Destructor Documentation

ArmSubsystem()

frc.robot.subsystems.Arm.ArmSubsystem.ArmSubsystem

(

ArmIO

io

)

Associates the Arm Input/Output object with the Arm Subsystem.

Parameters

io	The Arm INPUT/OUTPUT object

Member Function Documentation

periodic()

void frc.robot.subsystems.Arm.ArmSubsystem.periodic

(

)

Method that will be called once per scheduler run.

If the difference between the desired and current is: Large ( diff > first_threshold ): Uses MotionMagic Voltage Small ( diff <= first_threshold ): Checks Difference with new Threshold

If the difference type is Small, it considers the difference again: Large ( diff > second_threshold ): Uses Position Voltage Small ( diff <= second_threshold ): Motors Stop

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The documentation for this class was generated from the following file:

• 2024-CommandRobot/src/main/java/frc/robot/subsystems/Arm/ArmSubsystem.java