Package xbot.common.injection.electrical_contract

Class SparkMaxMotorControllerOutputConfig

java.lang.Object

xbot.common.injection.electrical_contract.CANMotorControllerOutputConfig

xbot.common.injection.electrical_contract.SparkMaxMotorControllerOutputConfig

public class SparkMaxMotorControllerOutputConfig
extends CANMotorControllerOutputConfig

Configuration class for Spark Max motor controllers.

Nested Class Summary

Nested classes/interfaces inherited from class xbot.common.injection.electrical_contract.CANMotorControllerOutputConfig

CANMotorControllerOutputConfig.InversionType, CANMotorControllerOutputConfig.NeutralMode

Field Summary

Fields

Modifier and Type	Field	Description
Current	sparkFreeCurrentLimit
Current	sparkStallCurrentLimit
AngularVelocity	sparkStallSpeed

Fields inherited from class xbot.common.injection.electrical_contract.CANMotorControllerOutputConfig

inversionType, neutralMode

Constructor Summary

Constructors

Constructor	Description
SparkMaxMotorControllerOutputConfig()

Method Summary

Modifier and Type	Method	Description
SparkMaxMotorControllerOutputConfig	withInversionType(CANMotorControllerOutputConfig.InversionType inversionType)	Sets the inversion type for the motor controller.
SparkMaxMotorControllerOutputConfig	withNeutralMode(CANMotorControllerOutputConfig.NeutralMode neutralMode)	Sets the neutral mode for the motor controller.
SparkMaxMotorControllerOutputConfig	withSmartCurrentLimit(Current stallCurrent)	Sets the smart current limits for Spark motor controllers, using the same current for stall and free.
SparkMaxMotorControllerOutputConfig	withSmartCurrentLimit(Current stallCurrent, Current freeCurrent, AngularVelocity stallSpeed)	Sets the smart current limits for Spark motor controllers.

Methods inherited from class java.lang.Object

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

Field Details

sparkStallCurrentLimit

public Current sparkStallCurrentLimit

sparkFreeCurrentLimit

public Current sparkFreeCurrentLimit

sparkStallSpeed

public AngularVelocity sparkStallSpeed

Constructor Details

SparkMaxMotorControllerOutputConfig

public SparkMaxMotorControllerOutputConfig()

Method Details

withInversionType

public SparkMaxMotorControllerOutputConfig withInversionType(CANMotorControllerOutputConfig.InversionType inversionType)

Description copied from class: CANMotorControllerOutputConfig

Sets the inversion type for the motor controller.

Overrides:

withInversionType in class CANMotorControllerOutputConfig

withNeutralMode

public SparkMaxMotorControllerOutputConfig withNeutralMode(CANMotorControllerOutputConfig.NeutralMode neutralMode)

Description copied from class: CANMotorControllerOutputConfig

Sets the neutral mode for the motor controller.

Overrides:

withNeutralMode in class CANMotorControllerOutputConfig

withSmartCurrentLimit

public SparkMaxMotorControllerOutputConfig withSmartCurrentLimit(Current stallCurrent,
 Current freeCurrent,
 AngularVelocity stallSpeed)

Sets the smart current limits for Spark motor controllers. RPMs lower than the stallSpeed will be limited to stallCurrent, RPMs higher than the stall speed with have current limits linearly increasing with speed (up to the max free speed of the motor) up to freeCurrent..

withSmartCurrentLimit

public SparkMaxMotorControllerOutputConfig withSmartCurrentLimit(Current stallCurrent)

Sets the smart current limits for Spark motor controllers, using the same current for stall and free. This method sets a fixed current limit over the whole speed range.