io.github.robolib.module.controller

Class LimitedController

java.lang.Object

io.github.robolib.module.controller.LimitedController

All Implemented Interfaces:

PIDSink, SpeedSink, SpeedSource, SpeedController, MotorSafety

public final class LimitedController
extends java.lang.Object
implements SpeedController, MotorSafety

A SpeedController limited by Boolean Sources.

Author:

noriah

Field Summary

Fields

Modifier and Type	Field and Description
private SpeedController	m_motor The m_motor.
private MotorSafetyHelper	m_safetyHelper
private LimitSystem	m_system The m_switch system.

Fields inherited from interface io.github.robolib.module.MotorSafety

SAFETY_TIMEOUT_DEFAULT, SAFETY_TIMEOUT_LOOSE, SAFETY_TIMEOUT_STRICT

Constructor Summary

Constructors

Constructor and Description
LimitedController(SpeedController motor, LimitSystem system) Instantiates a new limit switch controller.

Method Summary

Modifier and Type	Method and Description
boolean	atBackLimit() At near limit
boolean	atFrontLimit() At far limit.
boolean	atLimit() At a limit.
java.lang.String	getDescription() Gets the description.
MotorSafetyHelper	getSafetyHelper() Return the MotorSafetyHelper object for this MotorSafety Object
double	getSpeed() Common interface for getting the current set speed of a speed controller.
void	setInverted(boolean inverted) Set the inverted state of the speed controller.
void	setSpeed(double speed) Set the speed of the SpeedController
void	stopMotor() Stop/Disable the motor.

Methods inherited from class java.lang.Object

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

Methods inherited from interface io.github.robolib.module.controller.SpeedController

pidWrite, set

Methods inherited from interface io.github.robolib.identifier.SpeedSink

bindSpeed, bindSpeed

Methods inherited from interface io.github.robolib.module.MotorSafety

feed, getSafetyExpiration, isAlive, isSafetyEnabled, setSafetyEnabled, setSafetyExpiration

Field Detail

m_motor

private final SpeedController m_motor

The m_motor.

m_system

private final LimitSystem m_system

The m_switch system.

m_safetyHelper

private final MotorSafetyHelper m_safetyHelper

Constructor Detail

LimitedController

public LimitedController(SpeedController motor,
                         LimitSystem system)

Instantiates a new limit switch controller.

Parameters:

motor - the motor

system - the switch system

Method Detail

getSpeed

public double getSpeed()

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

Specified by:

getSpeed in interface SpeedSource

Specified by:

getSpeed in interface SpeedController

Returns:

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

setSpeed

public void setSpeed(double speed)

Set the speed of the SpeedController

Specified by:

setSpeed in interface SpeedSink

Specified by:

setSpeed in interface SpeedController

Parameters:

speed - the speed to set

setInverted

public void setInverted(boolean inverted)

Set the inverted state of the speed controller.

Specified by:

setInverted in interface SpeedController

Parameters:

inverted - true to invert the values sent to the motor.

atLimit

public boolean atLimit()

At a limit.

Returns:

true, if at a limit

atFrontLimit

public boolean atFrontLimit()

At far limit.

Returns:

true, if at far limit.

atBackLimit

public boolean atBackLimit()

At near limit

Returns:

true, if at near limit.

getSafetyHelper

public MotorSafetyHelper getSafetyHelper()

Return the MotorSafetyHelper object for this MotorSafety Object

Specified by:

getSafetyHelper in interface MotorSafety

Returns:

the motor safety helper

stopMotor

public void stopMotor()

Stop/Disable the motor.

Specified by:

stopMotor in interface SpeedController

Specified by:

stopMotor in interface MotorSafety

getDescription

public java.lang.String getDescription()

Gets the description.

Specified by:

getDescription in interface MotorSafety

Returns:

the description