io.github.robolib.module.controller

Interface SpeedController

All Superinterfaces:

PIDSink, SpeedSink, SpeedSource

All Known Implementing Classes:

CANJaguar, CANTalon, Jaguar, LimitedController, NullController, PWMController, Talon, TalonSRX, Victor, VictorSP

public interface SpeedController
extends PIDSink, SpeedSink, SpeedSource

The Interface SpeedController. A SpeedController is usually a motor controller connected to a CIM or other FRC legal motors. Most are PWM controlled, but there are the new ones, such as the TalonSRX, which run on CAN as well as the old Jaguars with CAN interface. You might think im missing a set(double) here, but this is a Speed Controller. That means we are setting speed, not just anything. I have found that being specific in code, when needed, does wonder for those that don't understand it.

Author:

noriah

Method Summary

Modifier and Type	Method and Description
double	getSpeed() Common interface for getting the current set speed of a speed controller.
default void	pidWrite(double value)
default void	set(double speed, byte syncGroup) Deprecated. Replaced by setSpeed(double), only here for CANJaguar compatibility.
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 interface io.github.robolib.identifier.SpeedSink

bindSpeed, bindSpeed

Method Detail

getSpeed

double getSpeed()

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

Specified by:

getSpeed in interface SpeedSource

Returns:

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

set

default void set(double speed,
                 byte syncGroup)

Deprecated. Replaced by setSpeed(double), only here for CANJaguar compatibility.

Common interface for setting the speed of a speed controller.

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0.

syncGroup - The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.

setSpeed

void setSpeed(double speed)

Set the speed of the SpeedController

Specified by:

setSpeed in interface SpeedSink

Parameters:

speed - the speed to set

setInverted

void setInverted(boolean inverted)

Set the inverted state of the speed controller.

Parameters:

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

stopMotor

void stopMotor()

Stop/Disable the motor.

pidWrite

default void pidWrite(double value)

Specified by:

pidWrite in interface PIDSink