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, PWMSparkFlex, PWMSparkMax, PWMTalonFX, PWMTalonSRX, PWMVenom, PWMVictorSPX, SD540, Spark, Talon, Victor, VictorSP

public abstract class PWMMotorController
extends MotorSafety
implements MotorController, Sendable, AutoCloseable

Common base class for all PWM Motor Controllers.

Field Summary

Fields

Modifier and Type	Field	Description
protected PWM	m_pwm	PWM instances for motor controller.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PWMMotorController(String name, int channel)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	addFollower(PWMMotorController follower)	Make the given PWM motor controller follow the output of this one.
void	close()	Free the resource associated with the PWM channel and set the value to 0.
void	disable()	Disable the motor controller.
void	enableDeadbandElimination(boolean eliminateDeadband)	Optionally eliminate the deadband from a motor controller.
double	get()	Get the recently set value of the PWM.
int	getChannel()	Gets the PWM channel number.
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.
int	getPwmHandle()	Gets the backing PWM handle.
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()	Called to stop the motor when the timeout expires.

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

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

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. If you want the value that is sent directly to the MotorController, use PWM.getSpeed() instead.

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.

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