PivotSubsystem

The absolute encoder for the pivot

The tree map for the auto-aiming of the pivot This is a map of distances to angles

The homing sensor for the pivot, to trigger when the pivot is upright

The motor for the pivot

The PID controller for the pivot

The relative encoder for the pivot, contained within the SparkMax

The Shuffleboard tab for the pivot subsystem

Get the absolute position of the pivot

Get the homing sensor value

Get the interpolated angle for a given position

Get the relative position of the pivot

Set the position of the pivot using PID with feedforward specialized to hold it in place

Reset the absolute encoder

Set the position of the pivot using PID

Set the speed of the pivot

Set a voltage amount to send to the pivot

Stop the pivot

Sync the relative encoder to the absolute encoder

Zero the relative encoder