edu.wpi.first.wpilibj
Class Talon

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.PWM
          edu.wpi.first.wpilibj.SafePWM
              edu.wpi.first.wpilibj.Talon

All Implemented Interfaces:

LiveWindowSendable, MotorSafety, IDevice, IDeviceController, PIDOutput, Sendable, SpeedController

public class Talon
extends SafePWM
implements SpeedController, IDeviceController

CTRE Talon Speed Controller

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.PWM

kDefaultPwmCenter, kDefaultPwmPeriod, kDefaultPwmStepsDown, kPwmDisabled

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Talon(int channel)
Constructor that assumes the default digital module.

Talon(int slot, int channel)
Constructor that specifies the digital module.

Method Summary

double	get() Get the recently set value of the PWM.
void	pidWrite(double output) Write out the PID value as seen in the PIDOutput base object.
void	set(double speed) Set the PWM value.
void	set(double speed, byte syncGroup) Deprecated. For compatibility with CANJaguar The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

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

disable, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor

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

enableDeadbandElimination, free, getChannel, getModuleNumber, getPosition, getRaw, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setPeriodMultiplier, setPosition, setRaw, startLiveWindowMode, stopLiveWindowMode, updateTable

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

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

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.SpeedController

disable

Constructor Detail

Talon

public Talon(int channel)

Constructor that assumes the default digital module.

Parameters:

channel - The PWM channel on the digital module that the Victor is attached to.

Talon

public Talon(int slot,
             int channel)

Constructor that specifies the digital module.

Parameters:

slot - The slot in the chassis that the digital module is plugged into.

channel - The PWM channel on the digital module that the Victor is attached to.

Method Detail

set

public void set(double speed,
                byte syncGroup)

Deprecated. For compatibility with CANJaguar The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Set the PWM value.

Specified by:

set in interface SpeedController

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.

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 SpeedController

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 SpeedController

Returns:

The most recently set value for the PWM between -1.0 and 1.0.

pidWrite

public void pidWrite(double output)

Write out the PID value as seen in the PIDOutput base object.

Specified by:

pidWrite in interface PIDOutput

Parameters:

output - Write out the PWM value as was found in the PIDController