Interface MotorController
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- All Superinterfaces:
SpeedController
- All Known Implementing Classes:
DMC60
,Jaguar
,MotorControllerGroup
,NidecBrushless
,PIDMotorController
,PWMMotorController
,PWMSparkMax
,PWMTalonFX
,PWMTalonSRX
,PWMVenom
,PWMVictorSPX
,SD540
,Spark
,SpeedControllerGroup
,Talon
,Victor
,VictorSP
public interface MotorController extends SpeedController
Interface for motor controlling devices.
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Method Summary
All Methods Instance Methods Abstract Methods Default Methods Modifier and Type Method Description 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
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.default void
setVoltage(double outputVolts)
Sets the voltage output of the MotorController.void
stopMotor()
Stops motor movement.
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Method Detail
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set
void set(double speed)
Common interface for setting the speed of a motor controller.- 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
default void setVoltage(double outputVolts)
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 interfaceSpeedController
- Parameters:
outputVolts
- The voltage to output.
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get
double get()
Common interface for getting the current set speed of a motor controller.- Specified by:
get
in interfaceSpeedController
- Returns:
- The current set speed. Value is between -1.0 and 1.0.
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setInverted
void setInverted(boolean isInverted)
Common interface for inverting direction of a motor controller.- Specified by:
setInverted
in interfaceSpeedController
- Parameters:
isInverted
- The state of inversion true is inverted.
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getInverted
boolean getInverted()
Common interface for returning if a motor controller is in the inverted state or not.- Specified by:
getInverted
in interfaceSpeedController
- Returns:
- isInverted The state of the inversion true is inverted.
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disable
void disable()
Disable the motor controller.- Specified by:
disable
in interfaceSpeedController
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stopMotor
void stopMotor()
Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.- Specified by:
stopMotor
in interfaceSpeedController
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