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

Class WsPhoenixFollowerConfig

java.lang.Object

org.wildstang.hardware.roborio.outputs.config.WsPhoenixFollowerConfig

All Implemented Interfaces:

OutputConfig

public class WsPhoenixFollowerConfig
extends java.lang.Object
implements OutputConfig

Contains configurations for Phoenix Talon and Victor motor controller followers.

Constructor Summary

Constructors

Constructor	Description
WsPhoenixFollowerConfig(Outputs following, int channel, WsMotorControllers controller)	Construct the Phoenix config.
WsPhoenixFollowerConfig(Outputs following, int channel, WsMotorControllers controller, boolean oppose)	Construct the Phoenix config.

Method Summary

Modifier and Type	Method	Description
int	getChannel()	Returns the hardware port number.
Outputs	getFollowing()	Returns the enumeration of followed motor controller.
WsMotorControllers	getType()	Returns true if the motor controller is a Talon.
boolean	isOpposing()	Returns if the follower should oppose the followed.
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

WsPhoenixFollowerConfig

public WsPhoenixFollowerConfig(Outputs following,
                               int channel,
                               WsMotorControllers controller)

Construct the Phoenix config.

Parameters:

following - Enumeration of motor controller being followed.

channel - Hardware port number.

controller - Enumeration representing type of controller.

WsPhoenixFollowerConfig

public WsPhoenixFollowerConfig(Outputs following,
                               int channel,
                               WsMotorControllers controller,
                               boolean oppose)

Construct the Phoenix config.

Parameters:

following - Enumeration of motor controller being followed.

channel - Hardware port number.

controller - Enumeration representing type of controller.

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

Method Detail

getFollowing

public Outputs getFollowing()

Returns the enumeration of followed motor controller.

Returns:

The followed motor controller.

getChannel

public int getChannel()

Returns the hardware port number.

Returns:

The hardware port number.

getType

public WsMotorControllers getType()

Returns true if the motor controller is a Talon.

Returns:

True if Talon, false if Victor.

isOpposing

public boolean isOpposing()

Returns if the follower should oppose the followed.

Returns:

True if opposing.

toString

public java.lang.String toString()

Builds a JSON String describing the Phoenix config.

Overrides:

toString in class java.lang.Object

Returns:

Channel number, is talon, and is opposing.