PositionalSubsystem Class Reference

Inheritance diagram for PositionalSubsystem:

Public Member Functions
	__init__ (self, str name, int motorID, configs.TalonFXConfiguration motorConfig, sysidConfig sysidConf, float limitWaitingDistance, Union[float, None] positionSetErrorBounds=None, Union[int, None] followerID=None, units.turns conversionRate=1/360, Union[int, None] encoderID=None, Union[configs.CANcoderConfiguration, None] encoderConfig=None, Union[float, None] initialPosition=None, Union[units.inches, units.degrees] initialTarget=0)
	get (self, bool useTurns=False)
bool	inPosition (self)
	limit (self, Tuple[units.degrees] newLimits)
	periodic (self)
	set (self, Union[units.inches, units.degrees, None] target)
	setEnabled (self, bool state)
commands2.Command	sys_id_dynamic (self, SysIdRoutine.Direction direction)
commands2.Command	sys_id_quasistatic (self, SysIdRoutine.Direction direction)

Public Attributes
	configs = motorConfig
	conversionRate = conversionRate
bool	enabled = True
	encoder = CANcoder(encoderID)
	follower = TalonFX(followerID)
	lim_target = DebugSender(self.getName()+"LimTarget",False,)
tuple	limits = (-2,2)
units.turns	limitWaitingDistance = limitWaitingDistance * self.conversionRate
	motor = TalonFX(motorID)
	pos_debug = DebugSender(self.getName()+"Position",False,self.get)
units.turns	positionSetErrorBounds
	prevGoal = None
	sys_id_routine
units.turns	target = target*self.conversionRate
	target_debug = DebugSender(self.getName()+"Target",False,lambda: self.target/self.conversionRate)
	voltage_req = controls.VoltageOut(0)

Constructor & Destructor Documentation

__init__()

__init__	(		self,
		str	name,
		int	motorID,
		configs.TalonFXConfiguration	motorConfig,
		sysidConfig	sysidConf,
		float	limitWaitingDistance,
		Union[float, None]	positionSetErrorBounds = None,
		Union[int, None]	followerID = None,
		units.turns	conversionRate = 1/360,
		Union[int, None]	encoderID = None,
		Union[configs.CANcoderConfiguration, None]	encoderConfig = None,
		Union[float, None]	initialPosition = None,
		Union[units.inches, units.degrees]	initialTarget = 0 )

Member Function Documentation

get()

get	(		self,
		bool	useTurns = False )

inPosition()

bool inPosition

(

self

)

limit()

limit	(		self,
		Tuple[units.degrees]	newLimits )

periodic()

periodic

(

self

)

set()

set	(		self,
		Union[units.inches,units.degrees,None]	target )

setEnabled()

setEnabled	(		self,
		bool	state )

sys_id_dynamic()

commands2.Command sys_id_dynamic	(		self,
		SysIdRoutine.Direction	direction )

sys_id_quasistatic()

commands2.Command sys_id_quasistatic	(		self,
		SysIdRoutine.Direction	direction )

Member Data Documentation

configs

configs = motorConfig

conversionRate

conversionRate = conversionRate

enabled

bool enabled = True

encoder

encoder = CANcoder(encoderID)

follower

follower = TalonFX(followerID)

lim_target

lim_target = DebugSender(self.getName()+"LimTarget",False,)

limits

tuple limits = (-2,2)

limitWaitingDistance

units.turns limitWaitingDistance = limitWaitingDistance * self.conversionRate

motor

motor = TalonFX(motorID)

pos_debug

pos_debug = DebugSender(self.getName()+"Position",False,self.get)

positionSetErrorBounds

units.turns positionSetErrorBounds

Initial value:

=  self.conversionRate * positionSetErrorBounds \
            if positionSetErrorBounds is not None else self.limitWaitingDistance

prevGoal

prevGoal = None

sys_id_routine

sys_id_routine

Initial value:

=  SysIdRoutine(
            SysIdRoutine.Config(
                stepVoltage = sysidConf.stepVoltage,
                rampRate = sysidConf.rampRate,
                timeout = sysidConf.timeout,
                recordState = lambda state: SignalLogger.write_string("state", SysIdRoutineLog.stateEnumToString(state))
            ),
            SysIdRoutine.Mechanism(
                lambda volts: self.motor.set_control(self.voltage_req.with_output(volts)),
                lambda log: None,
                self
            )
        )

target

units.turns target = target*self.conversionRate

target_debug

target_debug = DebugSender(self.getName()+"Target",False,lambda: self.target/self.conversionRate)

voltage_req

voltage_req = controls.VoltageOut(0)

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/subsystems/positionalSubsystem.py