Package org.firstinspires.ftc.teamcode

Class AR_Joint

java.lang.Object

org.firstinspires.ftc.teamcode.AR_Joint

public class AR_Joint
extends Object

This class create a AR_Joint object that is used to encapsulate all the code used to control and use the 2024-2025 Aerospace Robotics Robot Arm Joint. Instantiate that class for each AR_Joint in the AR_Arm object. Creation Date: 11/3/2024

Constructor Summary

Constructors

Constructor	Description
AR_Joint(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode iBot, String iJointName, double iP, double iI, double iD, double iF)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	moveJoint(int target, int iCurrentState, int iLastState)	Move joint to the desired target.

Methods inherited from class java.lang.Object

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

Constructor Details

AR_Joint

public AR_Joint(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode iBot,
 String iJointName,
 double iP,
 double iI,
 double iD,
 double iF)

Constructor. Prepare a joint instance.

Parameters:

iBot - Handle to the LinearOpMode.

iJointName - text based name of joint motor in robot configuration.

iP - variable of PID controller.

iI - variable of PID controller.

iD - variable of PID controller.

iF - variable for use with feed forward in PID controller.

Method Details

moveJoint

public void moveJoint(int target,
 int iCurrentState,
 int iLastState)

Move joint to the desired target.

Parameters:

target - degree angle to move the joint to.