Package edu.wpi.first.wpilibj.motorcontrol

Class NidecBrushless

java.lang.Object
edu.wpi.first.wpilibj.MotorSafety
edu.wpi.first.wpilibj.motorcontrol.NidecBrushless
All Implemented Interfaces:
Sendable, MotorController, AutoCloseable
public class NidecBrushless extends MotorSafety implements MotorController, Sendable, AutoCloseable
Nidec Brushless Motor.

  • Constructor Details

    • NidecBrushless

      public NidecBrushless(int pwmChannel, int dioChannel)
      Constructor.
      Parameters:
      pwmChannel - The PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port
      dioChannel - The DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • 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.
      Specified by:
      get in interface MotorController
      Returns:
      The most recently set value for the PWM 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.

    • stopMotor

      public void stopMotor()
      Stop the motor. This is called by the MotorSafety object when it has a timeout for this PWM and needs to stop it from running. Calling set() will re-enable the motor.
      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.

    • disable

      public void disable()
      Disable the motor. The enable() function must be called to re-enable the motor.
      Specified by:
      disable in interface MotorController

    • enable

      public void enable()
      Re-enable the motor after disable() has been called. The set() function must be called to set a new motor speed.

    • getChannel

      public int getChannel()
      Gets the channel number associated with the object.
      Returns:
      The channel number.

    • 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