Package edu.wpi.first.wpilibj.motorcontrol

Class MotorControllerGroup

java.lang.Object

edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup

All Implemented Interfaces:

Sendable, MotorController, AutoCloseable

public class MotorControllerGroup
extends Object
implements MotorController, Sendable, AutoCloseable

Allows multiple MotorController objects to be linked together.

Constructor Summary

Constructors

Constructor	Description
MotorControllerGroup(MotorController[] motorControllers)
MotorControllerGroup(MotorController motorController, MotorController... motorControllers)	Create a new MotorControllerGroup with the provided MotorControllers.

Method Summary

Modifier and Type	Method	Description
void	close()
void	disable()	Disable the motor controller.
double	get()	Common interface for getting the current set speed of a motor controller.
boolean	getInverted()	Common interface for returning if a motor controller is in the inverted state or not.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	set(double speed)	Common interface for setting the speed of a motor controller.
void	setInverted(boolean isInverted)	Common interface for inverting direction of a motor controller.
void	setVoltage(double outputVolts)	Sets the voltage output of the MotorController.
void	stopMotor()	Stops motor movement.

Methods inherited from class java.lang.Object

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

Constructor Details

MotorControllerGroup

public MotorControllerGroup(MotorController motorController, MotorController... motorControllers)

Create a new MotorControllerGroup with the provided MotorControllers.

Parameters:

motorController - The first MotorController to add

motorControllers - The MotorControllers to add

MotorControllerGroup

public MotorControllerGroup(MotorController[] motorControllers)

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

set

public void set(double speed)

Description copied from interface: MotorController

Common interface for setting the speed of a motor controller.

Specified by:

set in interface MotorController

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0.

setVoltage

public void setVoltage(double outputVolts)

Description copied from interface: MotorController

Sets the voltage output of the MotorController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function *must* be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Specified by:

setVoltage in interface MotorController

Parameters:

outputVolts - The voltage to output.

get

public double get()

Description copied from interface: MotorController

Common interface for getting the current set speed of a motor controller.

Specified by:

get in interface MotorController

Returns:

The current set speed. Value is between -1.0 and 1.0.

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 interface: MotorController

Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.

Specified by:

stopMotor in interface MotorController

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