Initial Algae #8
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| public interface algaeIO{ | ||
| public interface algaeIO { | ||
| @AutoLog | ||
| public static class IOInputs { |
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name of this class should have algae in it (for clarity reasons otherwise it won't be clear which subsystem this compiled class belongs to)
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| public static class IOInputs { | ||
| public AngularVelocity velocity; | ||
| public Angle location; |
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Can we change this to position to be consistent with other subsystems?
| } | ||
| public void setPosition(double position) { | ||
| // Set the Talon FX to position control mode and set the target position | ||
| talonFX.setPosition(position); |
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Algae is not a position-based subsystem, it is a closedLoopSpeedSubsystem
you will want to setSpeed, not setPosiiton
you will have probably both a dutyCycle (open loop) control request, and a velocityDutyCycle request
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updateInputs should update all of the inputs: position, velocity, beam break
you should use the BaseStatusSignal.refreshAll() syntax to refresh all at once (see exampleSubsystem)
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