Package org.wildstang.hardware.roborio.outputs.config

Class WsPhoenixConfig

java.lang.Object

org.wildstang.hardware.roborio.outputs.config.WsPhoenixConfig

All Implemented Interfaces:

OutputConfig

public class WsPhoenixConfig
extends java.lang.Object
implements OutputConfig

Contains configurations for Phoenix Talon and Victor motor controllers.

Constructor Summary

Constructors

Constructor	Description
WsPhoenixConfig(int channel, WsMotorControllers controller)	Construct the Phoenix config.
WsPhoenixConfig(int channel, WsMotorControllers controller, boolean invert)	Construct the Phoenix config.
WsPhoenixConfig(int channel, WsMotorControllers controller, boolean invert, double p_default)	Construct the Phoenix config.

Method Summary

Modifier and Type	Method	Description
int	getChannel()	Returns the hardware port number.
double	getDefault()	Returns the default output value.
WsMotorControllers	getType()	Returns true if the motor controller is a Talon.
boolean	isInverted()	Returns if the controller should be inverted.
java.lang.String	toString()	Builds a JSON String describing the Phoenix config.

Methods inherited from class java.lang.Object

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

Constructor Detail

WsPhoenixConfig

public WsPhoenixConfig(int channel,
                       WsMotorControllers controller)

Construct the Phoenix config.

Parameters:

channel - Controller CAN constant.

controller - Enumeration representing type of controller.

WsPhoenixConfig

public WsPhoenixConfig(int channel,
                       WsMotorControllers controller,
                       boolean invert)

Construct the Phoenix config.

Parameters:

channel - Controller CAN constant.

controller - Enumeration representing type of controller.

invert - True if motor output should be inverted.

WsPhoenixConfig

public WsPhoenixConfig(int channel,
                       WsMotorControllers controller,
                       boolean invert,
                       double p_default)

Construct the Phoenix config.

Parameters:

channel - Controller CAN constant.

controller - Enumeration representing type of controller.

invert - True if motor output should be inverted.

p_default - Default output value.

Method Detail

getChannel

public int getChannel()

Returns the hardware port number.

Returns:

The hardware port number.

getDefault

public double getDefault()

Returns the default output value.

Returns:

The default value.

getType

public WsMotorControllers getType()

Returns true if the motor controller is a Talon.

Returns:

True if Talon, false if Victor.

isInverted

public boolean isInverted()

Returns if the controller should be inverted.

Returns:

True if inverted.

toString

public java.lang.String toString()

Builds a JSON String describing the Phoenix config.

Overrides:

toString in class java.lang.Object

Returns:

Channel number and controller type.