Class MotorControllerGroup
- java.lang.Object
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- edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup
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- All Implemented Interfaces:
Sendable
,MotorController
,SpeedController
,AutoCloseable
public class MotorControllerGroup extends Object implements MotorController, Sendable, AutoCloseable
Allows multipleMotorController
objects to be linked together.
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Constructor Summary
Constructors Constructor Description MotorControllerGroup(MotorController[] motorControllers)
MotorControllerGroup(MotorController motorController, MotorController... motorControllers)
Create a new MotorControllerGroup with the provided MotorControllers.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
close()
void
disable()
Disable the motor controller.double
get()
Common interface for getting the current set speed of a motor controller.boolean
getInverted()
Common interface for returning if a motor controller is in the inverted state or not.void
initSendable(SendableBuilder builder)
Initializes thisSendable
object.void
set(double speed)
Common interface for setting the speed of a motor controller.void
setInverted(boolean isInverted)
Common interface for inverting direction of a motor controller.void
stopMotor()
Stops motor movement.-
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj.motorcontrol.MotorController
setVoltage
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Constructor Detail
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MotorControllerGroup
public MotorControllerGroup(MotorController motorController, MotorController... motorControllers)
Create a new MotorControllerGroup with the provided MotorControllers.- Parameters:
motorController
- The first MotorController to addmotorControllers
- The MotorControllers to add
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MotorControllerGroup
public MotorControllerGroup(MotorController[] motorControllers)
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Method Detail
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close
public void close()
- Specified by:
close
in interfaceAutoCloseable
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set
public void set(double speed)
Description copied from interface:MotorController
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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get
public double get()
Description copied from interface:MotorController
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)
Description copied from interface:MotorController
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()
Description copied from interface:MotorController
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()
Description copied from interface:MotorController
Disable the motor controller.- Specified by:
disable
in interfaceMotorController
- Specified by:
disable
in interfaceSpeedController
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stopMotor
public void stopMotor()
Description copied from interface:MotorController
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)
Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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