Package edu.wpi.first.wpilibj.pidwrappers

Class PIDMotorController

java.lang.Object

edu.wpi.first.wpilibj.pidwrappers.PIDMotorController

All Implemented Interfaces:

Sendable, MotorController, PIDOutput, SpeedController

@Deprecated(since="2022",
            forRemoval=true)
public class PIDMotorController
extends Object
implements PIDOutput, MotorController, Sendable

Deprecated, for removal: This API element is subject to removal in a future version.

Use PIDController which doesn't require this wrapper.

Wrapper so that PIDOutput is implemented for MotorController for old PIDController.

Constructor Summary

Constructors

Constructor	Description
PIDMotorController(MotorController motorController)	Deprecated, for removal: This API element is subject to removal in a future version.

Method Summary

Modifier and Type	Method	Description
void	disable()	Deprecated, for removal: This API element is subject to removal in a future version. Disable the motor controller.
double	get()	Deprecated, for removal: This API element is subject to removal in a future version. Common interface for getting the current set speed of a motor controller.
boolean	getInverted()	Deprecated, for removal: This API element is subject to removal in a future version. Common interface for returning if a motor controller is in the inverted state or not.
void	initSendable(SendableBuilder builder)	Deprecated, for removal: This API element is subject to removal in a future version. Initializes this Sendable object.
void	pidWrite(double output)	Deprecated, for removal: This API element is subject to removal in a future version. Write out the PID value as seen in the PIDOutput base object.
void	set(double speed)	Deprecated, for removal: This API element is subject to removal in a future version. Common interface for setting the speed of a motor controller.
void	setInverted(boolean isInverted)	Deprecated, for removal: This API element is subject to removal in a future version. Common interface for inverting direction of a motor controller.
void	setVoltage(double outputVolts)	Deprecated, for removal: This API element is subject to removal in a future version. Sets the voltage output of the MotorController.
void	stopMotor()	Deprecated, for removal: This API element is subject to removal in a future version. Stops motor movement.

Methods inherited from class java.lang.Object

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

Constructor Details

PIDMotorController

public PIDMotorController(MotorController motorController)

Deprecated, for removal: This API element is subject to removal in a future version.

Method Details

pidWrite

public void pidWrite(double output)

Deprecated, for removal: This API element is subject to removal in a future version.

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

set

public void set(double speed)

Deprecated, for removal: This API element is subject to removal in a future version.

Common interface for setting the speed of a motor controller.

Specified by:

set in interface MotorController

Specified by:

set in interface SpeedController

Parameters:

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

setVoltage

public void setVoltage(double outputVolts)

Deprecated, for removal: This API element is subject to removal in a future version.

Sets the voltage output of the MotorController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function *must* be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Specified by:

setVoltage in interface MotorController

Specified by:

setVoltage in interface SpeedController

Parameters:

outputVolts - The voltage to output.

get

public double get()

Deprecated, for removal: This API element is subject to removal in a future version.

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

Specified by:

get in interface MotorController

Specified by:

get in interface SpeedController

Returns:

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

setInverted

public void setInverted(boolean isInverted)

Deprecated, for removal: This API element is subject to removal in a future version.

Common interface for inverting direction of a motor controller.

Specified by:

setInverted in interface MotorController

Specified by:

setInverted in interface SpeedController

Parameters:

isInverted - The state of inversion true is inverted.

getInverted

public boolean getInverted()

Deprecated, for removal: This API element is subject to removal in a future version.

Common interface for returning if a motor controller is in the inverted state or not.

Specified by:

getInverted in interface MotorController

Specified by:

getInverted in interface SpeedController

Returns:

isInverted The state of the inversion true is inverted.

disable

public void disable()

Deprecated, for removal: This API element is subject to removal in a future version.

Disable the motor controller.

Specified by:

disable in interface MotorController

Specified by:

disable in interface SpeedController

stopMotor

public void stopMotor()

Deprecated, for removal: This API element is subject to removal in a future version.

Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.

Specified by:

stopMotor in interface MotorController

Specified by:

stopMotor in interface SpeedController

initSendable

public void initSendable(SendableBuilder builder)

Deprecated, for removal: This API element is subject to removal in a future version.

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder