Package org.wildstang.hardware.roborio.outputs

Class WsPhoenix

  • public class WsPhoenix
extends WsMotorController
    Controls a Talon or Victor motor controller as a Phoenix BaseMotorController.

    • Constructor Summary

      Constructors 
      Constructor Description
      WsPhoenix​(java.lang.String name, int channel, double p_default, WsMotorControllers controller, boolean invert)
      Constructs the motor controller from config.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void addFollower​(int canConstant, WsMotorControllers controller, boolean oppose)
      Add a follower motor to the current motor.
      void disableCurrentLimit()
      Disables the current limit of the motor controller.
      void enableProfile​(boolean enable)
      Enables or disables motion profile.
      void fillProfile​(java.util.ArrayList<com.ctre.phoenix.motion.TrajectoryPoint> points)
      Fills the motor controllers path buffers with the upcoming points.
      com.ctre.phoenix.motorcontrol.can.BaseMotorController getController()
      Returns the raw motor controller Object.
      WsMotorControllers getControllerType()
      Determines the type of motor controller represented.
      com.ctre.phoenix.motorcontrol.can.BaseMotorController getFollower()
      Returns the raw follower motor controller Object.
      double getOutput()
      Returns the current motor output percent.
      double getPosition()
      Returns the quadrature position from a Talon's encoder.
      com.ctre.phoenix.motion.MotionProfileStatus getProfileStatus()
      Get the motor controller's motion profile status.
      double getTemperature()
      Return the motor controller temperature
      double getVelocity()
      Returns the quadrature velocity from a Talon's encoder.
      void holdPosition​(int slot)
      Actively holds a given position, useful for braking.
      int limitSwitchState()
      Returns the state of a Talon's limit switches.
      void notifyConfigChange()
      Does nothing, config values only affects start state.
      void resetEncoder()
      Resets the position of a Talon's encoder.
      void sendDataToOutput()
      Sets motor speed to current value, from -1.0 to 1.0.
      void setBrake()
      Sets the motor to brake mode, will not freely spin.
      void setCoast()
      Sets the motor to coast mode, will freely spin.
      void setCurrentLimit​(int peakLimitAmps, int peakDuractionMs, int continuousLimitAmps)
      Sets the current limit of the motor controller.
      void setMotionControlFramePeriod​(int period)
      Sets the motion profiles control frame period.
      void setProfile​(int slot)
      Sets and runs the motion profile slot to use.
      void updateProfile()
      Processes the current motion profile's buffer.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • WsPhoenix

        public WsPhoenix​(java.lang.String name,
                 int channel,
                 double p_default,
                 WsMotorControllers controller,
                 boolean invert)
        Constructs the motor controller from config.
        Parameters:
        name - Descriptive name of the controller.
        channel - Motor controller CAN constant.
        p_default - Default output value.
        controller - Enumeration representing type of controller.
        invert - Invert the motor's direction.

    • Method Detail

      • addFollower

        public void addFollower​(int canConstant,
                        WsMotorControllers controller,
                        boolean oppose)
        Add a follower motor to the current motor.
        Specified by:
        addFollower in class WsMotorController
        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 com.ctre.phoenix.motorcontrol.can.BaseMotorController getController()
        Returns the raw motor controller Object.
        Specified by:
        getController in class WsMotorController
        Returns:
        CANSparkMax Object.

      • getFollower

        public com.ctre.phoenix.motorcontrol.can.BaseMotorController getFollower()
        Returns the raw follower motor controller Object.
        Specified by:
        getFollower in class WsMotorController
        Returns:
        Follower motor controller object, null if no follower.

      • getControllerType

        public WsMotorControllers getControllerType()
        Determines the type of motor controller represented.
        Returns:
        Enumeration representing type of motor controller.

      • setBrake

        public void setBrake()
        Sets the motor to brake mode, will not freely spin.
        Specified by:
        setBrake in class WsMotorController

      • setCoast

        public void setCoast()
        Sets the motor to coast mode, will freely spin.
        Specified by:
        setCoast in class WsMotorController

      • setCurrentLimit

        public void setCurrentLimit​(int peakLimitAmps,
                            int peakDuractionMs,
                            int continuousLimitAmps)
        Sets the current limit of the motor controller. Only Talons support current limiting.
        Specified by:
        setCurrentLimit in class WsMotorController
        Parameters:
        peakLimitAmps - The instantaneous amount of amps drawn before limiting.
        peakDuractionMs - The amount of time peakLimitAmps must be broken before limiting, in milliseconds.
        continuousLimitAmps - The continuous amount of amps drawn before limiting, normally less than peakLimitAmps.

      • disableCurrentLimit

        public void disableCurrentLimit()
        Disables the current limit of the motor controller. Only Talons support current limiting.
        Specified by:
        disableCurrentLimit in class WsMotorController

      • getVelocity

        public double getVelocity()
        Returns the quadrature velocity from a Talon's encoder.
        Specified by:
        getVelocity in class WsMotorController
        Returns:
        Current velocity, 0 if not a Talon.

      • getPosition

        public double getPosition()
        Returns the quadrature position from a Talon's encoder.
        Specified by:
        getPosition in class WsMotorController
        Returns:
        Current position, 0 if not a Talon.

      • limitSwitchState

        public int limitSwitchState()
        Returns the state of a Talon's limit switches.
        Returns:
        Returns 1 if the forward limit switch is closed, 0 if neither or both, and -1 if the reverse limit switch is closed.

      • setProfile

        public void setProfile​(int slot)
        Sets and runs the motion profile slot to use.
        Parameters:
        slot - Motion profile slot number.

      • enableProfile

        public void enableProfile​(boolean enable)
        Enables or disables motion profile.
        Parameters:
        enable - True if to enable profile.

      • getProfileStatus

        public com.ctre.phoenix.motion.MotionProfileStatus getProfileStatus()
        Get the motor controller's motion profile status.
        Returns:
        Status of the motion profile.

      • fillProfile

        public void fillProfile​(java.util.ArrayList<com.ctre.phoenix.motion.TrajectoryPoint> points)
        Fills the motor controllers path buffers with the upcoming points.
        Parameters:
        points - List of upcoming trajectories.

      • updateProfile

        public void updateProfile()
        Processes the current motion profile's buffer.

      • setMotionControlFramePeriod

        public void setMotionControlFramePeriod​(int period)
        Sets the motion profiles control frame period.
        Parameters:
        period - Time in milliseconds.

      • holdPosition

        public void holdPosition​(int slot)
        Actively holds a given position, useful for braking.
        Parameters:
        slot - Motion profile slot number.

      • getOutput

        public double getOutput()
        Returns the current motor output percent.
        Specified by:
        getOutput in class WsMotorController
        Returns:
        Current motor output as a percent.

      • getTemperature

        public double getTemperature()
        Return the motor controller temperature
        Specified by:
        getTemperature in class WsMotorController
        Returns:
        Current temperature.

      • notifyConfigChange

        public void notifyConfigChange()
        Does nothing, config values only affects start state.