SubSys_Arm

Used for controlling the robots Arm as well as the calculations to stop the robot from moving outside of bounds

Methods

RotateArm()

Rotates the arm

Inputs:

• lockedMode (Int):

  0: Does not stop, Ignores boundaries

  1: Accepts positive percentOutput values, not negative

  2: Accepts negative percentOutput values, not positive

• percentOutput (Double):

  -1.0 -> 1.0: How fast the arm should rotate in percent of the max motor speed

Usage Example:

package frc.robot.Example; //Define package
import frc.robot.ChargedUp.Arm.SubSys_Arm; //Import Subsystem

public class ExampleClass() {

SubSys_Arm.RotateArm(0, 1.0); //Roate the arm at 100% speed, ignoring boundaries

}

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RotateArm_InBounds()

Rotates the arm inside of the maximum bounds of the robot

Inputs:

• percentOutput (Double):

  -1.0 -> 1.0: How fast the arm should rotate in percent of the max motor speed

Usage Example:

package frc.robot.Example; //Define package
import frc.robot.ChargedUp.Arm.SubSys_Arm; //Import Subsystem

public class ExampleClass() {

SubSys_Arm.RotateArm_InBounds(1.0); //Roate the arm at 100% speed, staying inside boundaries

}

---

ExtendArm()

Extends the arm

Inputs:

• lockedMode (Int):

  0: Does not stop, Ignores boundaries

  1: Accepts positive percentOutput values (extending), not negative (retracting)

  2: Accepts negative percentOutput values (retracting), not positive (extending)

  3: Move fast while percentOutput is positive (extending), but moves at a slower speed when percentOutput is negative (retracting)

• percentOutput (Double):

  -1.0 -> 1.0: How fast the arm should extend in percent of the max motor speed

Usage Example:

package frc.robot.Example; //Define package
import frc.robot.ChargedUp.Arm.SubSys_Arm; //Import Subsystem

public class ExampleClass() {

SubSys_Arm.ExtendArm(0, 1.0); //Extend the arm at 100% speed, ignoring boundaries

}

---

ExtendArm_InBounds()

Extends the arm inside of the maximum bounds of the robot

Inputs:

• percentOutput (Double):

  -1.0 -> 1.0: How fast the arm should extend in percent of the max motor speed

Usage Example:

package frc.robot.Example; //Define package
import frc.robot.ChargedUp.Arm.SubSys_Arm; //Import Subsystem

public class ExampleClass() {

SubSys_Arm.ExtendArm_InBounds(0, 1.0); //Extend the arm at 100% speed, staying inside boundaries

}

---

Dependencies

• None

Refrences

• Cmd_ArmDefault
• Cmd_ArmExtensionPID
• Cmd_ArmShoulderPID