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Merge branch 'zhangal/phoenixpro' into zhangal/poseEstimation
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37 changes: 37 additions & 0 deletions
37
src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIO.java
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package org.team1540.robot2024.subsystems.shooter; | ||
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import org.littletonrobotics.junction.AutoLog; | ||
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public interface FlywheelsIO { | ||
@AutoLog | ||
class FlywheelsIOInputs { | ||
public double leftAppliedVolts = 0.0; | ||
public double leftCurrentAmps = 0.0; | ||
public double leftVelocityRPM = 0.0; | ||
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public double rightAppliedVolts = 0.0; | ||
public double rightCurrentAmps = 0.0; | ||
public double rightVelocityRPM = 0.0; | ||
} | ||
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/** | ||
* Updates the set of loggable inputs | ||
*/ | ||
default void updateInputs(FlywheelsIOInputs inputs) {} | ||
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/** | ||
* Runs open loop at the specified voltages | ||
*/ | ||
default void setVoltage(double leftVolts, double rightVolts) {} | ||
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/** | ||
* Runs closed loop at the specified RPMs | ||
*/ | ||
default void setSpeeds(double leftRPM, double rightRPM) {} | ||
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/** | ||
* Configures the PID controller | ||
*/ | ||
default void configPID(double kP, double kI, double kD) {} | ||
} |
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