Class XRPMotor

java.lang.Object

org.wpilib.xrp.XRPMotor

All Implemented Interfaces:

MotorController

public class XRPMotor
extends Object
implements MotorController

XRPMotor.

A SimDevice based motor controller representing the motors on an XRP robot

Constructor Summary

Constructors

Constructor	Description
XRPMotor(int deviceNum)	Constructs an XRPMotor.

Method Summary

Modifier and Type	Method	Description
void	disable()	Disables the motor controller.
double	getDutyCycle()	Gets the duty cycle of the motor controller.
boolean	getInverted()	Gets the inversion state of the motor controller.
void	setDutyCycle(double velocity)	Sets the duty cycle of the motor controller.
void	setInverted(boolean isInverted)	Sets the inversion state of the motor controller.

Methods inherited from class Object

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

Methods inherited from interface MotorController

setVoltage, setVoltage

Constructor Details

XRPMotor

public XRPMotor(int deviceNum)

Constructs an XRPMotor.

Parameters:

deviceNum - the motor channel

Method Details

setDutyCycle

public void setDutyCycle(double velocity)

Description copied from interface: MotorController

Sets the duty cycle of the motor controller.

Specified by:

setDutyCycle in interface MotorController

Parameters:

velocity - The duty cycle between -1 and 1 (sign indicates direction).

getDutyCycle

public double getDutyCycle()

Description copied from interface: MotorController

Gets the duty cycle of the motor controller.

Specified by:

getDutyCycle in interface MotorController

Returns:

The duty cycle between -1 and 1 (sign indicates direction).

setInverted

public void setInverted(boolean isInverted)

Description copied from interface: MotorController

Sets the inversion state of the motor controller.

Specified by:

setInverted in interface MotorController

Parameters:

isInverted - The inversion state.

getInverted

public boolean getInverted()

Description copied from interface: MotorController

Gets the inversion state of the motor controller.

Specified by:

getInverted in interface MotorController

Returns:

The inversion state.

disable

public void disable()

Description copied from interface: MotorController

Disables the motor controller.

Specified by:

disable in interface MotorController