Package edu.wpi.first.wpilibj.motorcontrol

Class PWMMotorController

java.lang.Object
edu.wpi.first.wpilibj.MotorSafety
edu.wpi.first.wpilibj.motorcontrol.PWMMotorController
All Implemented Interfaces:
Sendable, MotorController, AutoCloseable
Direct Known Subclasses:
DMC60, Jaguar, Koors40, PWMSparkFlex, PWMSparkMax, PWMTalonFX, PWMTalonSRX, PWMVenom, PWMVictorSPX, RomiMotor, SD540, Spark, SparkMini, Talon, Victor, VictorSP
public abstract class PWMMotorController extends MotorSafety implements MotorController, Sendable, AutoCloseable
Common base class for all PWM Motor Controllers.

  • Field Details

    • m_pwm

      protected PWM m_pwm
      PWM instances for motor controller.

  • Constructor Details

    • PWMMotorController

      protected PWMMotorController(String name, int channel)
      Constructor.
      Parameters:
      name - Name to use for SendableRegistry
      channel - The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

  • Method Details

    • close

      public void close()
      Free the resource associated with the PWM channel and set the value to 0.
      Specified by:
      close in interface AutoCloseable

    • setSpeed

      protected final void setSpeed(double speed)
      Takes a speed from -1 to 1, and outputs it in the microsecond format.
      Parameters:
      speed - the speed to output

    • getSpeed

      protected final double getSpeed()
      Gets the speed from -1 to 1, from the currently set pulse time.
      Returns:
      motor controller speed

    • setBoundsMicroseconds

      protected final void setBoundsMicroseconds(int maxPwm, int deadbandMaxPwm, int centerPwm, int deadbandMinPwm, int minPwm)
      Sets the bounds in microseconds for the controller.
      Parameters:
      maxPwm - maximum
      deadbandMaxPwm - deadband max
      centerPwm - center
      deadbandMinPwm - deadmand min
      minPwm - minimum

    • set

      public void set(double speed)
      Set the PWM value.

      The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

      Specified by:
      set in interface MotorController
      Parameters:
      speed - The speed value between -1.0 and 1.0 to set.

    • get

      public double get()
      Get the recently set value of the PWM. This value is affected by the inversion property.
      Specified by:
      get in interface MotorController
      Returns:
      The most recently set value for the PWM between -1.0 and 1.0.

    • getVoltage

      public double getVoltage()
      Gets the voltage output of the motor controller, nominally between -12 V and 12 V.
      Returns:
      The voltage of the motor controller, nominally between -12 V and 12 V.

    • setInverted

      public void setInverted(boolean isInverted)
      Description copied from interface: MotorController
      Common interface for inverting direction of a motor controller.
      Specified by:
      setInverted in interface MotorController
      Parameters:
      isInverted - The state of inversion true is inverted.

    • getInverted

      public boolean getInverted()
      Description copied from interface: MotorController
      Common interface for returning if a motor controller is in the inverted state or not.
      Specified by:
      getInverted in interface MotorController
      Returns:
      isInverted The state of the inversion true is inverted.

    • disable

      public void disable()
      Description copied from interface: MotorController
      Disable the motor controller.
      Specified by:
      disable in interface MotorController

    • stopMotor

      public void stopMotor()
      Description copied from class: MotorSafety
      Called to stop the motor when the timeout expires.
      Specified by:
      stopMotor in interface MotorController
      Specified by:
      stopMotor in class MotorSafety

    • getDescription

      public String getDescription()
      Description copied from class: MotorSafety
      Returns a description to print when an error occurs.
      Specified by:
      getDescription in class MotorSafety
      Returns:
      Description to print when an error occurs.

    • getPwmHandle

      public int getPwmHandle()
      Gets the backing PWM handle.
      Returns:
      The pwm handle.

    • getChannel

      public int getChannel()
      Gets the PWM channel number.
      Returns:
      The channel number.

    • enableDeadbandElimination

      public void enableDeadbandElimination(boolean eliminateDeadband)
      Optionally eliminate the deadband from a motor controller.
      Parameters:
      eliminateDeadband - If true, set the motor curve for the motor controller to eliminate the deadband in the middle of the range. Otherwise, keep the full range without modifying any values.

    • addFollower

      public void addFollower(PWMMotorController follower)
      Make the given PWM motor controller follow the output of this one.
      Parameters:
      follower - The motor controller follower.

    • initSendable

      public void initSendable(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - sendable builder