Package xbot.common.controls.actuators

Class XCANMotorController

java.lang.Object

xbot.common.controls.actuators.XCANMotorController

All Implemented Interfaces:

DataFrameRefreshable

Direct Known Subclasses:

CANSparkMaxWpiAdapter, CANTalonFxWpiAdapter, MockCANMotorController

public abstract class XCANMotorController
extends Object
implements DataFrameRefreshable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	XCANMotorController.MotorPidMode	The PID mode to use when setting a target position or velocity.
static interface	XCANMotorController.XCANMotorControllerFactory

Field Summary

Fields

Modifier and Type	Field	Description
protected String	akitName
final CANBusId	busId
final int	deviceId
protected boolean	firstPeriodicCall
protected xbot.common.controls.io_inputs.XCANMotorControllerInputsAutoLogged	inputs
final PropertyFactory	propertyFactory
protected boolean	usesPropertySystem

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	XCANMotorController(CANMotorControllerInfo info, String owningSystemPrefix, PropertyFactory propertyFactory, DevicePolice police, String pidPropertyPrefix, XCANMotorControllerPIDProperties defaultPIDProperties)

Method Summary

Modifier and Type	Method	Description
Current	getCurrent()
Angle	getPosition()
abstract double	getPower()
AngularVelocity	getVelocity()
Voltage	getVoltage()
abstract boolean	isInverted()
void	periodic()
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
abstract void	setClosedLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
abstract void	setConfiguration(CANMotorControllerOutputConfig outputConfig)
abstract void	setOpenLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
void	setPidDirectly(double p, double i, double d)
void	setPidDirectly(double p, double i, double d, double velocityFF, double gravityFF)
abstract void	setPidDirectly(double p, double i, double d, double velocityFF, double gravityFF, int slot)
void	setPosition(Angle position)
void	setPositionTarget(Angle position, XCANMotorController.MotorPidMode mode)
abstract void	setPositionTarget(Angle position, XCANMotorController.MotorPidMode mode, int slot)
abstract void	setPower(double power)
abstract void	setPowerRange(double minPower, double maxPower)
abstract void	setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)
abstract void	setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)
void	setVelocityTarget(AngularVelocity velocity)
void	setVelocityTarget(AngularVelocity velocity, XCANMotorController.MotorPidMode mode)
abstract void	setVelocityTarget(AngularVelocity velocity, XCANMotorController.MotorPidMode mode, int slot)
protected abstract void	updateInputs(XCANMotorControllerInputs inputs)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

busId

public final CANBusId busId

deviceId

public final int deviceId

propertyFactory

public final PropertyFactory propertyFactory

inputs

protected xbot.common.controls.io_inputs.XCANMotorControllerInputsAutoLogged inputs

akitName

protected String akitName

usesPropertySystem

protected boolean usesPropertySystem

firstPeriodicCall

protected boolean firstPeriodicCall

Constructor Details

XCANMotorController

protected XCANMotorController(CANMotorControllerInfo info,
 String owningSystemPrefix,
 PropertyFactory propertyFactory,
 DevicePolice police,
 String pidPropertyPrefix,
 XCANMotorControllerPIDProperties defaultPIDProperties)

Method Details

setConfiguration

public abstract void setConfiguration(CANMotorControllerOutputConfig outputConfig)

setPidDirectly

public void setPidDirectly(double p,
 double i,
 double d)

setPidDirectly

public void setPidDirectly(double p,
 double i,
 double d,
 double velocityFF,
 double gravityFF)

setPidDirectly

public abstract void setPidDirectly(double p,
 double i,
 double d,
 double velocityFF,
 double gravityFF,
 int slot)

periodic

public void periodic()

setOpenLoopRampRates

public abstract void setOpenLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

setClosedLoopRampRates

public abstract void setClosedLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

setTrapezoidalProfileAcceleration

public abstract void setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)

setTrapezoidalProfileJerk

public abstract void setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)

setPower

public abstract void setPower(double power)

getPower

public abstract double getPower()

setPowerRange

public abstract void setPowerRange(double minPower,
 double maxPower)

getPosition

public Angle getPosition()

setPosition

public void setPosition(Angle position)

setPositionTarget

public void setPositionTarget(Angle position,
 XCANMotorController.MotorPidMode mode)

setPositionTarget

public abstract void setPositionTarget(Angle position,
 XCANMotorController.MotorPidMode mode,
 int slot)

getVelocity

public AngularVelocity getVelocity()

setVelocityTarget

public void setVelocityTarget(AngularVelocity velocity)

setVelocityTarget

public void setVelocityTarget(AngularVelocity velocity,
 XCANMotorController.MotorPidMode mode)

setVelocityTarget

public abstract void setVelocityTarget(AngularVelocity velocity,
 XCANMotorController.MotorPidMode mode,
 int slot)

getVoltage

public Voltage getVoltage()

getCurrent

public Current getCurrent()

isInverted

public abstract boolean isInverted()

updateInputs

protected abstract void updateInputs(XCANMotorControllerInputs inputs)

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable