Package org.wildstang.hardware.roborio.outputs

Class WsMotorController

  • Direct Known Subclasses:
    WsPhoenix, WsSparkMax
    public abstract class WsMotorController
extends AnalogOutput
    Abstract class decribing those that control some kind of motor controller.

    • Constructor Summary

      Constructors 
      Constructor Description
      WsMotorController​(java.lang.String p_name)
      Generic motor controller constructor, cannot be called.
      WsMotorController​(java.lang.String p_name, double p_default)
      Generic motor controller constructor, cannot be called.

    • Method Summary

      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and Type Method Description
      abstract void addFollower​(int canConstant, WsMotorControllers controller, boolean oppose)
      Add a follower motor to the current motor.
      abstract void disableCurrentLimit()
      Disables the current limit of the motor controller.
      abstract java.lang.Object getController()
      Returns the raw motor controller Object.
      abstract java.lang.Object getFollower()
      Returns the raw follower motor controller Object.
      abstract double getOutput()
      Returns the current motor output percent.
      abstract double getPosition()
      Returns the quadrature position from an encoder.
      abstract double getTemperature()
      Return the motor controller or motor temperature
      abstract double getVelocity()
      Returns the quadrature velocity from an encoder.
      abstract void resetEncoder()
      Resets the position of the encoder.
      abstract void sendDataToOutput()
      Sets motor speed to current value, from -1.0 to 1.0.
      abstract void setBrake()
      Sets the motor to brake mode, will not freely spin.
      abstract void setCoast()
      Sets the motor to coast mode, will freely spin.
      abstract void setCurrentLimit​(int a, int b, int c)
      Sets the current limit of the motor controller.
      void setSpeed​(double value)
      Wraps setValue().
      void stop()
      Sets the motors to 0 speed.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • WsMotorController

        public WsMotorController​(java.lang.String p_name)
        Generic motor controller constructor, cannot be called.
        Parameters:
        p_name - Descriptive name of the controller.

      • WsMotorController

        public WsMotorController​(java.lang.String p_name,
                         double p_default)
        Generic motor controller constructor, cannot be called.
        Parameters:
        p_name - Descriptive name of the controller.
        p_default - Default output value.

    • Method Detail

      • addFollower

        public abstract void addFollower​(int canConstant,
                                 WsMotorControllers controller,
                                 boolean oppose)
        Add a follower motor to the current motor.
        Parameters:
        canConstant - CAN constant of the new follower motor.
        controller - Enumeration representing type of controller.
        oppose - True if the follow should oppose the direction of this motor.

      • getController

        public abstract java.lang.Object getController()
        Returns the raw motor controller Object.
        Returns:
        Motor controller object.

      • getFollower

        public abstract java.lang.Object getFollower()
        Returns the raw follower motor controller Object.
        Returns:
        Follower motor controller object, null if no follower.

      • setBrake

        public abstract void setBrake()
        Sets the motor to brake mode, will not freely spin.

      • setCoast

        public abstract void setCoast()
        Sets the motor to coast mode, will freely spin.

      • setCurrentLimit

        public abstract void setCurrentLimit​(int a,
                                     int b,
                                     int c)
        Sets the current limit of the motor controller. Note: parameters may vary
        Parameters:
        a - See child class for parameter.
        b - See child class for parameter.
        c - See child class for parameter.

      • disableCurrentLimit

        public abstract void disableCurrentLimit()
        Disables the current limit of the motor controller.

      • getVelocity

        public abstract double getVelocity()
        Returns the quadrature velocity from an encoder.
        Returns:
        Current velocity.

      • getPosition

        public abstract double getPosition()
        Returns the quadrature position from an encoder.
        Returns:
        Current position.

      • resetEncoder

        public abstract void resetEncoder()
        Resets the position of the encoder.

      • getOutput

        public abstract double getOutput()
        Returns the current motor output percent.
        Returns:
        Current motor output as a percent.

      • getTemperature

        public abstract double getTemperature()
        Return the motor controller or motor temperature
        Returns:
        Current temperature.

      • sendDataToOutput

        public abstract void sendDataToOutput()
        Sets motor speed to current value, from -1.0 to 1.0.
        Specified by:
        sendDataToOutput in class Output

      • setSpeed

        public void setSpeed​(double value)
        Wraps setValue().
        Parameters:
        value - New motor percent speed, from -1.0 to 1.0.

      • stop

        public void stop()
        Sets the motors to 0 speed.