Roller Subsystem Functional Specification

Core Roller Functionality

• Motor(s) to drive the roller.

  • Configure (idle mode, current limits).

  • Configure gear ratio.

• Speed controls:

  • Manual operation.

• Pass constants object into constructor.

• Logging via AdvantageKit.

Bonus Roller Functions

Easy Bonus

• Support for single or dual motors.

Hard Bonus

• Java Units Classes (Distance, Angle, Velocity, Etc.).

• Simulation of subsystem.

• Integration with SysID. Characterizes motor performance.