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 Summary

Constructors

Constructor	Description
NidecBrushless(int pwmChannel, int dioChannel)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	close()
void	disable()	Disable the motor.
void	enable()	Re-enable the motor after disable() has been called.
double	get()	Get the recently set value of the PWM.
int	getChannel()	Gets the channel number associated with the object.
String	getDescription()	Returns a description to print when an error occurs.
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)	Set the PWM value.
void	setInverted(boolean isInverted)	Common interface for inverting direction of a motor controller.
void	stopMotor()	Stop the motor.

Methods inherited from class edu.wpi.first.wpilibj.MotorSafety

check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled

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.wpilibj.motorcontrol.MotorController

setVoltage

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