Package org.wildstang.hardware.roborio.outputs

Class WsSparkMax

java.lang.Object

org.wildstang.framework.io.outputs.Output

org.wildstang.framework.io.outputs.AnalogOutput

org.wildstang.hardware.roborio.outputs.WsMotorController

org.wildstang.hardware.roborio.outputs.WsSparkMax

public class WsSparkMax
extends WsMotorController

Controls a Spark Max motor controller.

Constructor Summary

Constructors

Constructor	Description
WsSparkMax(java.lang.String name, int channel, boolean brushless, double p_default)	Constructs the motor controller from config.
WsSparkMax(java.lang.String name, int channel, boolean brushless, double p_default, boolean invert)	Constructs the motor controller from config.

Method Summary

Modifier and Type	Method	Description
void	addClosedLoop(int slotID, double P, double I, double D, double FF)
void	addFollower(int canConstant, boolean brushless, boolean oppose)	Add a follower motor to the current motor.
void	addFollower(int canConstant, WsMotorControllers controller, boolean oppose)	Add a follower motor to the current motor.
void	disableCurrentLimit()	Does nothing, SparkMax has no current limit disable function.
void	enableVoltageCompensation()	Enables voltage compensation.
com.revrobotics.CANSparkMax	getController()	Returns the raw motor controller Object.
com.revrobotics.CANSparkMax	getFollower()	Returns the raw follower motor controller Object.
double	getOutput()	Returns the current motor output percent.
com.revrobotics.SparkMaxPIDController	getPIDController()
double	getPosition()	Returns the quadrature position from an encoder.
double	getTemperature()	Returns the temperature of the motor.
double	getVelocity()	Returns the quadrature velocity from an encoder.
void	initClosedLoop(double P, double I, double D, double FF)	Sets up closed loop control for the motor
void	initClosedLoop(double P, double I, double D, double FF, com.revrobotics.AbsoluteEncoder absEncoder)	Sets up closed loop control for the motor
void	initClosedLoop(double P, double I, double D, double FF, com.revrobotics.AbsoluteEncoder absEncoder, boolean isWrapped)	Sets up closed loop control for the motor
void	notifyConfigChange()	Does nothing, config values only affects start state.
void	resetEncoder()	Resets the position of an encoder.
void	sendDataToOutput()	Sets motor control
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 stallLimitAmps, int freeLimitAmps, int limitRPM)	Sets the current limit of the motor controller.
void	setPosition(double target)	Sets the motor to track the given position
void	setPosition(double target, int slotID)	Sets the motor to track the given position with a specific PIDFF constants
void	setSpeed(double value)	Wraps setValue().
void	setVelocity(double target)	Sets the motor to track the given velocity

Methods inherited from class org.wildstang.hardware.roborio.outputs.WsMotorController

stop

Methods inherited from class org.wildstang.framework.io.outputs.AnalogOutput

getValue, setValue

Methods inherited from class org.wildstang.framework.io.outputs.Output

disable, enable, getName, hashCode, isEnabled, update

Methods inherited from class java.lang.Object

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

Constructor Detail

WsSparkMax

public WsSparkMax(java.lang.String name,
                  int channel,
                  boolean brushless,
                  double p_default)

Constructs the motor controller from config.

Parameters:

name - Descriptive name of the controller.

channel - Motor controller CAN constant.

brushless - True if the motor is brushless, false if brushed.

p_default - Default output value.

WsSparkMax

public WsSparkMax(java.lang.String name,
                  int channel,
                  boolean brushless,
                  double p_default,
                  boolean invert)

Constructs the motor controller from config.

Parameters:

name - Descriptive name of the controller.

channel - Motor controller CAN constant.

brushless - True if the motor is brushless, false if brushed.

p_default - Default output value.

invert - Invert the motor's direction.

Method Detail

addFollower

public void addFollower(int canConstant,
                        boolean brushless,
                        boolean oppose)

Add a follower motor to the current motor.

Parameters:

canConstant - CAN constant of the new follower motor.

brushless - True if the motor is brushless, false if brushed.

oppose - True if the follow should oppose the direction of this motor.

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.revrobotics.CANSparkMax getController()

Returns the raw motor controller Object.

Specified by:

getController in class WsMotorController

Returns:

CANSparkMax Object.

getFollower

public com.revrobotics.CANSparkMax getFollower()

Returns the raw follower motor controller Object.

Specified by:

getFollower in class WsMotorController

Returns:

Follower motor controller object, null if no follower.

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 stallLimitAmps,
                            int freeLimitAmps,
                            int limitRPM)

Sets the current limit of the motor controller.

Specified by:

setCurrentLimit in class WsMotorController

Parameters:

stallLimitAmps - The amount of amps drawn before limiting while less than limitRPM.

freeLimitAmps - The amount of amps drawn before limiting while greater than limitRPM.

limitRPM - Sets the line between stallLimitAmps and freeLimitAmps.

enableVoltageCompensation

public void enableVoltageCompensation()

Enables voltage compensation.

getVelocity

public double getVelocity()

Returns the quadrature velocity from an encoder.

Specified by:

getVelocity in class WsMotorController

Returns:

Current velocity.

getPosition

public double getPosition()

Returns the quadrature position from an encoder.

Specified by:

getPosition in class WsMotorController

Returns:

Current position.

resetEncoder

public void resetEncoder()

Resets the position of an encoder.

Specified by:

resetEncoder in class WsMotorController

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()

Returns the temperature of the motor.

Specified by:

getTemperature in class WsMotorController

Returns:

Current temperature.

sendDataToOutput

public void sendDataToOutput()

Sets motor control

Specified by:

sendDataToOutput in class WsMotorController

setSpeed

public void setSpeed(double value)

Wraps setValue().

Overrides:

setSpeed in class WsMotorController

Parameters:

value - New motor percent speed, from -1.0 to 1.0.

initClosedLoop

public void initClosedLoop(double P,
                           double I,
                           double D,
                           double FF)

Sets up closed loop control for the motor

Parameters:

P - the P value

I - the I value

D - the D value

FF - the feed forward constant

initClosedLoop

public void initClosedLoop(double P,
                           double I,
                           double D,
                           double FF,
                           com.revrobotics.AbsoluteEncoder absEncoder)

Sets up closed loop control for the motor

Parameters:

P - the P value

I - the I value

D - the D value

FF - the feed forward constant

absEncoder - absolute encoder used to provided PID feedback

initClosedLoop

public void initClosedLoop(double P,
                           double I,
                           double D,
                           double FF,
                           com.revrobotics.AbsoluteEncoder absEncoder,
                           boolean isWrapped)

Sets up closed loop control for the motor

Parameters:

P - the P value

I - the I value

D - the D value

FF - the feed forward constant

absEncoder - absolute encoder used to provided PID feedback

isWrapped - whether wrapping should be enabled

getPIDController

public com.revrobotics.SparkMaxPIDController getPIDController()

addClosedLoop

public void addClosedLoop(int slotID,
                          double P,
                          double I,
                          double D,
                          double FF)

setPosition

public void setPosition(double target)

Sets the motor to track the given position

Parameters:

target - the encoder target value to track to

setPosition

public void setPosition(double target,
                        int slotID)

Sets the motor to track the given position with a specific PIDFF constants

Parameters:

target - the encoder target to track to

slotID - the ID slot of the sparkmax to use

setVelocity

public void setVelocity(double target)

Sets the motor to track the given velocity

Parameters:

target - the encoder target value velocity to track to

notifyConfigChange

public void notifyConfigChange()

Does nothing, config values only affects start state.

disableCurrentLimit

public void disableCurrentLimit()

Does nothing, SparkMax has no current limit disable function.

Specified by:

disableCurrentLimit in class WsMotorController