Create a HAL (Hardware Abstraction Layer) class to describe a motor:
Should group together classes for the motor controller, pdp channel, encoder, and ratios between encoder/motor
Common functions (via methodHandles?) Should be provided to set the motor value (-1 to 1 range) or motor voltage (requested voltage / system voltage). Getters should be able to return the motor rotational velocity, acceleration, and motor current in common units of RPM, RPM/sec, and A.
Current reads should be done from Motor Controller (if possible) or PDP (if not possible)
Grouping these things together should better describe the hierarchy of our system.
Create a HAL (Hardware Abstraction Layer) class to describe a motor:
Should group together classes for the motor controller, pdp channel, encoder, and ratios between encoder/motor
Common functions (via methodHandles?) Should be provided to set the motor value (-1 to 1 range) or motor voltage (requested voltage / system voltage). Getters should be able to return the motor rotational velocity, acceleration, and motor current in common units of RPM, RPM/sec, and A.
Current reads should be done from Motor Controller (if possible) or PDP (if not possible)
Grouping these things together should better describe the hierarchy of our system.