Class PIDMotorController
- java.lang.Object
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- edu.wpi.first.wpilibj.pidwrappers.PIDMotorController
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- All Implemented Interfaces:
Sendable
,MotorController
,PIDOutput
,SpeedController
@Deprecated(since="2022", forRemoval=true) public class PIDMotorController extends Object implements PIDOutput, MotorController, Sendable
Deprecated, for removal: This API element is subject to removal in a future version.UsePIDController
which doesn't require this wrapper.Wrapper so that PIDOutput is implemented for MotorController for old PIDController.
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Constructor Summary
Constructors Constructor Description PIDMotorController(MotorController motorController)
Deprecated, for removal: This API element is subject to removal in a future version.
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Method Summary
All Methods Instance Methods Concrete Methods Deprecated Methods Modifier and Type Method Description void
disable()
Deprecated, for removal: This API element is subject to removal in a future version.Disable the motor controller.double
get()
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for getting the current set speed of a motor controller.boolean
getInverted()
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for returning if a motor controller is in the inverted state or not.void
initSendable(SendableBuilder builder)
Deprecated, for removal: This API element is subject to removal in a future version.Initializes thisSendable
object.void
pidWrite(double output)
Deprecated, for removal: This API element is subject to removal in a future version.Write out the PID value as seen in the PIDOutput base object.void
set(double speed)
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for setting the speed of a motor controller.void
setInverted(boolean isInverted)
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for inverting direction of a motor controller.void
setVoltage(double outputVolts)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the voltage output of the MotorController.void
stopMotor()
Deprecated, for removal: This API element is subject to removal in a future version.Stops motor movement.
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Constructor Detail
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PIDMotorController
public PIDMotorController(MotorController motorController)
Deprecated, for removal: This API element is subject to removal in a future version.
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Method Detail
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pidWrite
public void pidWrite(double output)
Deprecated, for removal: This API element is subject to removal in a future version.Write out the PID value as seen in the PIDOutput base object.
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set
public void set(double speed)
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for setting the speed of a motor controller.- Specified by:
set
in interfaceMotorController
- Specified by:
set
in interfaceSpeedController
- Parameters:
speed
- The speed to set. Value should be between -1.0 and 1.0.
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setVoltage
public void setVoltage(double outputVolts)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the voltage output of the MotorController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).NOTE: This function *must* be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."
- Specified by:
setVoltage
in interfaceMotorController
- Specified by:
setVoltage
in interfaceSpeedController
- Parameters:
outputVolts
- The voltage to output.
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get
public double get()
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for getting the current set speed of a motor controller.- Specified by:
get
in interfaceMotorController
- Specified by:
get
in interfaceSpeedController
- Returns:
- The current set speed. Value is between -1.0 and 1.0.
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setInverted
public void setInverted(boolean isInverted)
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for inverting direction of a motor controller.- Specified by:
setInverted
in interfaceMotorController
- Specified by:
setInverted
in interfaceSpeedController
- Parameters:
isInverted
- The state of inversion true is inverted.
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getInverted
public boolean getInverted()
Deprecated, for removal: This API element is subject to removal in a future version.Common interface for returning if a motor controller is in the inverted state or not.- Specified by:
getInverted
in interfaceMotorController
- Specified by:
getInverted
in interfaceSpeedController
- Returns:
- isInverted The state of the inversion true is inverted.
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disable
public void disable()
Deprecated, for removal: This API element is subject to removal in a future version.Disable the motor controller.- Specified by:
disable
in interfaceMotorController
- Specified by:
disable
in interfaceSpeedController
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stopMotor
public void stopMotor()
Deprecated, for removal: This API element is subject to removal in a future version.Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.- Specified by:
stopMotor
in interfaceMotorController
- Specified by:
stopMotor
in interfaceSpeedController
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initSendable
public void initSendable(SendableBuilder builder)
Deprecated, for removal: This API element is subject to removal in a future version.Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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