Package xbot.common.injection.electrical_contract

Class TalonFxMotorControllerOutputConfig

java.lang.Object

xbot.common.injection.electrical_contract.CANMotorControllerOutputConfig

xbot.common.injection.electrical_contract.TalonFxMotorControllerOutputConfig

public class TalonFxMotorControllerOutputConfig
extends CANMotorControllerOutputConfig

Configuration class for Talon FX 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	burstSupplyCurrentLimit
int	feedbackCanCoderDeviceId
Current	statorCurrentLimit
Time	supplyCurrentBurstDuration
Current	supplyCurrentLimit

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

inversionType, neutralMode

Constructor Summary

Constructors

Constructor	Description
TalonFxMotorControllerOutputConfig()

Method Summary

Modifier and Type	Method	Description
TalonFxMotorControllerOutputConfig	withInversionType(CANMotorControllerOutputConfig.InversionType inversionType)	Sets the inversion type for the motor controller.
TalonFxMotorControllerOutputConfig	withNeutralMode(CANMotorControllerOutputConfig.NeutralMode neutralMode)	Sets the neutral mode for the motor controller.
TalonFxMotorControllerOutputConfig	withRemoteCanCoderFeedback(int canCoderDeviceId)	Sets a CANCoder as the position source for the motor
TalonFxMotorControllerOutputConfig	withStatorCurrentLimit(Current statorCurrentLimit)	Sets the continuous current limit for the motor controller's stator current.
TalonFxMotorControllerOutputConfig	withSupplyCurrentLimit(Current continuousSupplyCurrentLimit, Current burstSupplyCurrentLimit, Time supplyCurrentBurstDuration)	Sets the continuous current limit for the motor controller's supply current.

Methods inherited from class java.lang.Object

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

Field Details

statorCurrentLimit

public Current statorCurrentLimit

supplyCurrentLimit

public Current supplyCurrentLimit

burstSupplyCurrentLimit

public Current burstSupplyCurrentLimit

supplyCurrentBurstDuration

public Time supplyCurrentBurstDuration

feedbackCanCoderDeviceId

public int feedbackCanCoderDeviceId

Constructor Details

TalonFxMotorControllerOutputConfig

public TalonFxMotorControllerOutputConfig()

Method Details

withInversionType

public TalonFxMotorControllerOutputConfig withInversionType(CANMotorControllerOutputConfig.InversionType inversionType)

Description copied from class: CANMotorControllerOutputConfig

Sets the inversion type for the motor controller.

Overrides:

withInversionType in class CANMotorControllerOutputConfig

withNeutralMode

public TalonFxMotorControllerOutputConfig withNeutralMode(CANMotorControllerOutputConfig.NeutralMode neutralMode)

Description copied from class: CANMotorControllerOutputConfig

Sets the neutral mode for the motor controller.

Overrides:

withNeutralMode in class CANMotorControllerOutputConfig

withStatorCurrentLimit

public TalonFxMotorControllerOutputConfig withStatorCurrentLimit(Current statorCurrentLimit)

Sets the continuous current limit for the motor controller's stator current.

withSupplyCurrentLimit

public TalonFxMotorControllerOutputConfig withSupplyCurrentLimit(Current continuousSupplyCurrentLimit,
 Current burstSupplyCurrentLimit,
 Time supplyCurrentBurstDuration)

Sets the continuous current limit for the motor controller's supply current.

withRemoteCanCoderFeedback

public TalonFxMotorControllerOutputConfig withRemoteCanCoderFeedback(int canCoderDeviceId)

Sets a CANCoder as the position source for the motor

Parameters:

canCoderDeviceId - The CAN ID of the CANCoder to use as a remote sensor.