org.firstinspires.ftc.teamcode.hardware

Class Arm

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Arm

public class Arm
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Arm.Mode Grabber mode
static class	Arm.Position Joint position

Field Summary

Fields

Modifier and Type	Field and Description
com.qualcomm.robotcore.hardware.Servo	grabber
Arm.Mode	grabberMode
com.qualcomm.robotcore.hardware.DcMotorEx	joint
Arm.Position	jointPosition
static double	TICKS_PER_REVOLUTION

Constructor Summary

Constructors

Constructor and Description
Arm(DeviceManager deviceManager) Constructs an Arm object given the robot's device manager

Method Summary

Modifier and Type	Method and Description
void	carry() Puts the joint in the carry position
void	close() Closes the grabber
static int	degreesToTicks(int degrees) Returns the number of encoder ticks for this motor for the given number of degrees
void	down() Puts the joint in the down position
void	open() Opens the grabber
void	over_wall() Puts the joint in the over wall position
void	setGrabberMode(Arm.Mode mode) Sets the grabber mode
void	setJointPosition(Arm.Position position) Sets the joint position
void	stow() Puts the joint in the stowed position

Methods inherited from class java.lang.Object

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

Field Detail

joint

public com.qualcomm.robotcore.hardware.DcMotorEx joint

grabber

public com.qualcomm.robotcore.hardware.Servo grabber

grabberMode

public Arm.Mode grabberMode

jointPosition

public Arm.Position jointPosition

TICKS_PER_REVOLUTION

public static final double TICKS_PER_REVOLUTION

See Also:

Constant Field Values

Constructor Detail

Arm

public Arm(DeviceManager deviceManager)

Constructs an Arm object given the robot's device manager

Parameters:

deviceManager - the robot's device manager

Method Detail

degreesToTicks

public static int degreesToTicks(int degrees)

Returns the number of encoder ticks for this motor for the given number of degrees

This could result in some error because the method casts the calculation to an int (encoder values are integers), but the ticks per revolution of this motor is a double.

Parameters:

degrees - angle of rotation (counter-clockwise is positive)

Returns:

the number of encoder ticks for this motor for the given number of degrees

setJointPosition

public void setJointPosition(Arm.Position position)

Sets the joint position

Parameters:

position - arm position

stow

public void stow()

Puts the joint in the stowed position

carry

public void carry()

Puts the joint in the carry position

down

public void down()

Puts the joint in the down position

over_wall

public void over_wall()

Puts the joint in the over wall position

setGrabberMode

public void setGrabberMode(Arm.Mode mode)

Sets the grabber mode

Parameters:

mode - grabber mode

open

public void open()

Opens the grabber

close

public void close()

Closes the grabber