Package xbot.common.controls.actuators

Enum Class XCANMotorController.MotorPidMode

java.lang.Object

java.lang.Enum<XCANMotorController.MotorPidMode>

xbot.common.controls.actuators.XCANMotorController.MotorPidMode

All Implemented Interfaces:

Serializable, Comparable<XCANMotorController.MotorPidMode>, Constable

Enclosing class:

XCANMotorController

public static enum XCANMotorController.MotorPidMode
extends Enum<XCANMotorController.MotorPidMode>

The PID mode to use when setting a target position or velocity.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
DutyCycle	DutyCycle mode is used to control the motor controller's output as a percentage of the maximum output.
TrapezoidalVoltage	TrapezoidalVoltage mode is used to control the motor controller's output as a voltage, with a trapezoidal profile for acceleration and deceleration.
Voltage	Voltage mode is used to control the motor controller's output as a voltage.

Method Summary

Modifier and Type	Method	Description
static XCANMotorController.MotorPidMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static XCANMotorController.MotorPidMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

DutyCycle

public static final XCANMotorController.MotorPidMode DutyCycle

DutyCycle mode is used to control the motor controller's output as a percentage of the maximum output.

Voltage

public static final XCANMotorController.MotorPidMode Voltage

Voltage mode is used to control the motor controller's output as a voltage. It is less impacted by robot battery voltage changes than DutyCycle mode.

TrapezoidalVoltage

public static final XCANMotorController.MotorPidMode TrapezoidalVoltage

TrapezoidalVoltage mode is used to control the motor controller's output as a voltage, with a trapezoidal profile for acceleration and deceleration.

Method Details

values

public static XCANMotorController.MotorPidMode[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static XCANMotorController.MotorPidMode valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null