io.github.robolib.module.controller

Class PWMController

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.PWM

io.github.robolib.module.controller.PWMController

All Implemented Interfaces:

LiveWindowSendable, NumberSink, PIDSink, Sendable, SpeedSink, SpeedSource, UpdatingSendable, ActuatorModule, ControllerModule, SpeedController, Module, MotorSafety

Direct Known Subclasses:

Jaguar, Talon, TalonSRX, Victor, VictorSP

public class PWMController
extends PWM
implements ControllerModule, ActuatorModule, SpeedController, MotorSafety

Author:

noriah

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.PWM

PWM.PeriodMultiplier, PWM.PWMChannel

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private boolean	m_inverted
protected MotorSafetyHelper	m_safetyHelper

Fields inherited from class io.github.robolib.module.iface.PWM

m_description, m_disabled, m_table, m_table_listener, PWM_DEFAULT_CENTER, PWM_DEFAULT_PERIOD, PWM_DEFAULT_STEPS_DOWN, PWM_DISABLED_WIDTH, SYSTEM_CLOCK_TICKS_PER_MICROSEC

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

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

SAFETY_TIMEOUT_DEFAULT, SAFETY_TIMEOUT_LOOSE, SAFETY_TIMEOUT_STRICT

Constructor Summary

Constructors

Constructor and Description
PWMController(PWM.PWMChannel channel) Instantiates a new PWM motor controller.
PWMController(PWM.PWMChannel channel, java.lang.String desc) Instantiates a new PWM motor controller.
PWMController(PWM.PWMChannel channel, java.lang.String desc, PDP.PowerChannel pwChannel) Instantiates a new PWM motor controller.
PWMController(PWM.PWMChannel channel, java.lang.String desc, PDP.PowerChannel pwChannel, double boundsPosMax, double boundsPosMin, double boundsCenter, double boundsNegMax, double boundsNegMin, PWM.PeriodMultiplier multi) Instantiates a new PWM motor controller.

Method Summary

Modifier and Type	Method and Description
java.lang.String	getDescription() Gets the description.
MotorSafetyHelper	getSafetyHelper() Return the MotorSafetyHelper object for this MotorSafety Object
double	getSpeed() Gets the speed.
void	makeSafe() Make this actuator safe.
void	setInverted(boolean inverted) Set the inverted state of the speed controller.
void	setSpeed(double speed) Sets the speed.
void	stopMotor() Stop/Disable the motor.

Methods inherited from class io.github.robolib.module.iface.PWM

disableModule, eliminateDeadband, enableModule, free, get, getCenterPWM, getChannel, getChannelName, getChannelNumber, getModuleEnabled, getPosition, getRaw, getSmartDashboardType, getTable, initTable, set, setBounds, setPeriodMultiplier, setPosition, setRaw, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTable

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

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.Module

disableModule, enableModule, getModuleEnabled

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

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

bindValue, bindValue

Field Detail

m_safetyHelper

protected final MotorSafetyHelper m_safetyHelper

m_inverted

private boolean m_inverted

Constructor Detail

PWMController

public PWMController(PWM.PWMChannel channel)

Instantiates a new PWM motor controller.

Parameters:

channel - the pwm channel this controller operates on

PWMController

public PWMController(PWM.PWMChannel channel,
                     java.lang.String desc)

Instantiates a new PWM motor controller. Giving a description helps with debugging. It will be used in log outputs.

Parameters:

channel - the pwm channel this controller operates on

desc - the description of this motor controller

PWMController

public PWMController(PWM.PWMChannel channel,
                     java.lang.String desc,
                     PDP.PowerChannel pwChannel)

Instantiates a new PWM motor controller. Giving a description helps with debugging. It will be used in log outputs. Giving a power channel will help with power logging. It will be shown as this controllers power channel on power log outputs.

Parameters:

channel - the pwm channel this controller operates on

desc - the description of this motor controller

pwChannel - The PDP(Power Distribution Panel) Channel

PWMController

public PWMController(PWM.PWMChannel channel,
                     java.lang.String desc,
                     PDP.PowerChannel pwChannel,
                     double boundsPosMax,
                     double boundsPosMin,
                     double boundsCenter,
                     double boundsNegMax,
                     double boundsNegMin,
                     PWM.PeriodMultiplier multi)

Instantiates a new PWM motor controller. Giving a description helps with debugging. It will be used in log outputs. Giving a power channel will help with power logging. It will be shown as this controllers power channel on power log outputs.

Parameters:

channel - the pwm channel this controller operates on

desc - the description of this motor controller

pwChannel - The PDP(Power Distribution Panel) Channel

boundsPosMax - The maximum PWM pulse in ms

boundsPosMin - The maximum of the pulse deadband in ms

boundsCenter - The center/zero/off pulse width in ms

boundsNegMax - the mimium of the pulse deadband in ms

boundsNegMin - The minimum PWM pulse in ms

multi - The PeriodMultiplier enum

Method Detail

getSafetyHelper

public final MotorSafetyHelper getSafetyHelper()

Return the MotorSafetyHelper object for this MotorSafety Object

Specified by:

getSafetyHelper in interface MotorSafety

Returns:

the motor safety helper

getSpeed

public final double getSpeed()

Gets the speed.

Specified by:

getSpeed in interface SpeedSource

Specified by:

getSpeed in interface SpeedController

Overrides:

getSpeed in class PWM

Returns:

the speed

setSpeed

public final void setSpeed(double speed)

Sets the speed.

Specified by:

setSpeed in interface SpeedSink

Specified by:

setSpeed in interface SpeedController

Overrides:

setSpeed in class PWM

Parameters:

speed - the new speed

setInverted

public final 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.

stopMotor

public final void stopMotor()

Stop/Disable the motor.

Specified by:

stopMotor in interface SpeedController

Specified by:

stopMotor in interface MotorSafety

getDescription

public final java.lang.String getDescription()

Gets the description.

Specified by:

getDescription in interface MotorSafety

Returns:

the description

makeSafe

public void makeSafe()

Make this actuator safe. This should disable the module and keep it disabled. There should be no way to recover from a "safe" state. This is here to allow for exceptions in function, to keep the code resetting (switching game mode) from affecting the state, in case an external sensor detects that the module will cause damage to itself or others (or even people) To recover from this state, the code should need to be restarted.

Specified by:

makeSafe in interface ActuatorModule