Package xbot.common.subsystems.simple

Class SimpleMotorSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.subsystems.simple.SimpleMotorSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport

public abstract class SimpleMotorSubsystem
extends BaseSubsystem

Generic subsystem that handles a single motor which can be driven in forward and reverse.

Field Summary

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables, log

Constructor Summary

Constructors

Constructor	Description
SimpleMotorSubsystem(String name, PropertyFactory pf)	Create an instance with default power settings.
SimpleMotorSubsystem(String name, PropertyFactory pf, double defaultForwardPower, double defaultReversePower)	Create an instance with the specified default forward and reverse power.

Method Summary

Modifier and Type	Method	Description
final Command	getForwardCommand()	Gets a command to drive the motor in the forward direction.
final Command	getReverseCommand()	Gets a command to drive the motor in the reverse direction.
final Command	getStopCommand()	Gets a command to stop the motor.
final void	setForward()	Drive the motor in the forward direction.
abstract void	setPower(double power)	Sets the motor output power.
final void	setReverse()	Drive the motor in the reverse direction.
final void	stop()	Stop the motor.

Methods inherited from class xbot.common.command.BaseSubsystem

getPrefix, periodic, refreshDataFrame, registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

SimpleMotorSubsystem

public SimpleMotorSubsystem(String name,
 PropertyFactory pf,
 double defaultForwardPower,
 double defaultReversePower)

Create an instance with the specified default forward and reverse power.

Parameters:

name - The name of the subsystem

pf - The property factory

defaultForwardPower - The default power to use in the forward direction

defaultReversePower - The default power to use in the reverse direction

SimpleMotorSubsystem

public SimpleMotorSubsystem(String name,
 PropertyFactory pf)

Create an instance with default power settings.

Parameters:

name - The name of the subsystem

pf - The property factory

Method Details

setPower

public abstract void setPower(double power)

Sets the motor output power.

Parameters:

power - The output power, from -1.0 to 1.0

setForward

public final void setForward()

Drive the motor in the forward direction.

setReverse

public final void setReverse()

Drive the motor in the reverse direction.

stop

public final void stop()

Stop the motor.

getForwardCommand

public final Command getForwardCommand()

Gets a command to drive the motor in the forward direction.

Returns:

The command.

getReverseCommand

public final Command getReverseCommand()

Gets a command to drive the motor in the reverse direction.

Returns:

The command.

getStopCommand

public final Command getStopCommand()

Gets a command to stop the motor.

Returns:

The command.