Package frc.robot.subsystems.mechanisms.arm

Class ArmPosition

java.lang.Object

frc.robot.subsystems.mechanisms.arm.ArmPosition

public class ArmPosition
extends Object

Class that represents a position of the Arm, including both Elevator and Pivot positions.

Field Summary

Fields

Modifier and Type	Field	Description
Distance	elevatorPosition	The elevator position, as a distance from the fully retracted position.
Angle	pivotAngle	The pivot angle, as an angle from the field (90 degrees is straight up).

Constructor Summary

Constructors

Constructor	Description
ArmPosition(Distance elevatorPosition, Angle pivotAngle)	A combined elevator and pivot position.

Method Summary

Modifier and Type	Method	Description
Distance	getElevatorPosition()	Gets the elevatorPosition.
Angle	getPivotAngle()	Gets the pivotAngle.

Methods inherited from class java.lang.Object

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

Field Details

elevatorPosition

public Distance elevatorPosition

The elevator position, as a distance from the fully retracted position.

pivotAngle

public Angle pivotAngle

The pivot angle, as an angle from the field (90 degrees is straight up).

Constructor Details

ArmPosition

public ArmPosition(Distance elevatorPosition,
 Angle pivotAngle)

A combined elevator and pivot position.

Parameters:

elevatorPosition - The elevatorPosition to set.

pivotAngle - The pivotAngle to set.

Method Details

getElevatorPosition

public Distance getElevatorPosition()

Gets the elevatorPosition.

Returns:

The elevator's position.

getPivotAngle

public Angle getPivotAngle()

Gets the pivotAngle.

Returns:

The pivot's angle.