Package xbot.common.controls.actuators.wpi_adapters

Class CANTalonFxWpiAdapter

java.lang.Object

xbot.common.controls.actuators.XCANMotorController

xbot.common.controls.actuators.wpi_adapters.CANTalonFxWpiAdapter

All Implemented Interfaces:

DataFrameRefreshable

public class CANTalonFxWpiAdapter
extends XCANMotorController

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CANTalonFxWpiAdapter.CANTalonFxWpiAdapterFactory

Nested classes/interfaces inherited from class xbot.common.controls.actuators.XCANMotorController

XCANMotorController.MotorPidMode, XCANMotorController.XCANMotorControllerFactory

Field Summary

Fields inherited from class xbot.common.controls.actuators.XCANMotorController

akitName, busId, deviceId, firstPeriodicCall, inputs, propertyFactory, usesPropertySystem

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
Current	getCurrent()
Angle	getPosition()	Gets the current position of the motor output shaft.
double	getPower()
AngularVelocity	getVelocity()	Gets the angular velocity of the motor output shaft.
Voltage	getVoltage()
boolean	isInverted()
void	setClosedLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
void	setConfiguration(CANMotorControllerOutputConfig outputConfig)
void	setOpenLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
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, int slot)
void	setPower(double power)
void	setPowerRange(double minPower, double maxPower)
void	setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)
void	setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)
void	setVelocityTarget(AngularVelocity velocity, XCANMotorController.MotorPidMode mode, int slot)
protected void	updateInputs(XCANMotorControllerInputs inputs)

Methods inherited from class xbot.common.controls.actuators.XCANMotorController

periodic, refreshDataFrame, setPidDirectly, setPidDirectly, setPositionTarget, setVelocityTarget, setVelocityTarget

Methods inherited from class java.lang.Object

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

Constructor Details

CANTalonFxWpiAdapter

@AssistedInject
public CANTalonFxWpiAdapter(@Assisted("info")
 CANMotorControllerInfo info,
 @Assisted("owningSystemPrefix")
 String owningSystemPrefix,
 PropertyFactory propertyFactory,
 DevicePolice police,
 @Assisted("pidPropertyPrefix")
 String pidPropertyPrefix,
 @Assisted("defaultPIDProperties")
 XCANMotorControllerPIDProperties defaultPIDProperties)

Method Details

setConfiguration

public void setConfiguration(CANMotorControllerOutputConfig outputConfig)

Specified by:

setConfiguration in class XCANMotorController

setPidDirectly

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

Specified by:

setPidDirectly in class XCANMotorController

setOpenLoopRampRates

public void setOpenLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

Specified by:

setOpenLoopRampRates in class XCANMotorController

setClosedLoopRampRates

public void setClosedLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

Specified by:

setClosedLoopRampRates in class XCANMotorController

setTrapezoidalProfileAcceleration

public void setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)

Specified by:

setTrapezoidalProfileAcceleration in class XCANMotorController

setTrapezoidalProfileJerk

public void setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)

Specified by:

setTrapezoidalProfileJerk in class XCANMotorController

setPower

public void setPower(double power)

Specified by:

setPower in class XCANMotorController

getPower

public double getPower()

Specified by:

getPower in class XCANMotorController

setPowerRange

public void setPowerRange(double minPower,
 double maxPower)

Specified by:

setPowerRange in class XCANMotorController

getPosition

public Angle getPosition()

Gets the current position of the motor output shaft.

Overrides:

getPosition in class XCANMotorController

Returns:

The current position in unitless Angle

setPosition

public void setPosition(Angle position)

Overrides:

setPosition in class XCANMotorController

setPositionTarget

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

Specified by:

setPositionTarget in class XCANMotorController

getVelocity

public AngularVelocity getVelocity()

Gets the angular velocity of the motor output shaft.

Overrides:

getVelocity in class XCANMotorController

Returns:

The velocity in unitless AngularVelocity

setVelocityTarget

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

Specified by:

setVelocityTarget in class XCANMotorController

getVoltage

public Voltage getVoltage()

Overrides:

getVoltage in class XCANMotorController

getCurrent

public Current getCurrent()

Overrides:

getCurrent in class XCANMotorController

isInverted

public boolean isInverted()

Specified by:

isInverted in class XCANMotorController

updateInputs

protected void updateInputs(XCANMotorControllerInputs inputs)

Specified by:

updateInputs in class XCANMotorController