edu.wpi.first.wpilibj

Interface CANSpeedController

All Superinterfaces:

LiveWindowSendable, PIDInterface, PIDOutput, Sendable, SpeedController

public interface CANSpeedController
extends SpeedController, PIDInterface, LiveWindowSendable

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static interface	CANSpeedController.ControlMode Mode determines how the motor is controlled, used internally.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	SMART_DASHBOARD_TYPE All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".

Method Summary

Modifier and Type	Method and Description
default ITableListener	createTableListener() Creates an ITableListener for the LiveWindow table for this CAN speed controller.
double	getBusVoltage() Get the current input (battery) voltage.
CANSpeedController.ControlMode	getControlMode() Gets the current control mode.
default double	getF() Gets the feed-forward PID constant.
double	getOutputCurrent() Get the current being applied to the motor.
double	getOutputVoltage() Get the current output voltage.
double	getPosition() Return the current position of whatever the current selected sensor is.
default java.lang.String	getSmartDashboardType() The string representation of the named data type that will be used by the smart dashboard for this Sendable.
double	getSpeed() Return the current velocity of whatever the current selected sensor is.
double	getTemperature() Get the current temperature of the controller.
void	setControlMode(int mode) Sets the control mode of this speed controller.
void	setD(double d) Set the derivative PID constant.
default void	setF(double f) Set the feed-forward PID constant.
void	setI(double i) Set the integral PID constant.
void	setP(double p) Set the proportional PID constant.
void	setVoltageRampRate(double rampRate) Set the maximum rate of change of the output voltage.
default void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

disable, get, getInverted, set, setInverted, stopMotor

Methods inherited from interface edu.wpi.first.wpilibj.PIDOutput

pidWrite

Methods inherited from interface edu.wpi.first.wpilibj.PIDInterface

disable, enable, getD, getError, getI, getP, getSetpoint, isEnabled, reset, setPID, setSetpoint

Methods inherited from interface edu.wpi.first.wpilibj.livewindow.LiveWindowSendable

startLiveWindowMode, stopLiveWindowMode

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getTable, initTable

Field Detail

SMART_DASHBOARD_TYPE

static final java.lang.String SMART_DASHBOARD_TYPE

All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".

See Also:

Constant Field Values

Method Detail

getControlMode

CANSpeedController.ControlMode getControlMode()

Gets the current control mode.

Returns:

the current control mode

setControlMode

void setControlMode(int mode)

Sets the control mode of this speed controller.

Parameters:

mode - the the new mode

setP

void setP(double p)

Set the proportional PID constant.

setI

void setI(double i)

Set the integral PID constant.

setD

void setD(double d)

Set the derivative PID constant.

setF

default void setF(double f)

Set the feed-forward PID constant. This method is optional to implement.

getF

default double getF()

Gets the feed-forward PID constant. This method is optional to implement. If a subclass does not implement this, it will always return zero.

getBusVoltage

double getBusVoltage()

Get the current input (battery) voltage.

Returns:

the input voltage to the controller (in Volts).

getOutputVoltage

double getOutputVoltage()

Get the current output voltage.

Returns:

the output voltage to the motor in volts.

getOutputCurrent

double getOutputCurrent()

Get the current being applied to the motor.

Returns:

the current motor current (in Amperes).

getTemperature

double getTemperature()

Get the current temperature of the controller.

Returns:

the current temperature of the controller, in degrees Celsius.

getPosition

double getPosition()

Return the current position of whatever the current selected sensor is.

See specific implementations for more information on selecting feedback sensors.

Returns:

the current sensor position.

getSpeed

double getSpeed()

Return the current velocity of whatever the current selected sensor is.

See specific implementations for more information on selecting feedback sensors.

Returns:

the current sensor velocity.

setVoltageRampRate

void setVoltageRampRate(double rampRate)

Set the maximum rate of change of the output voltage.

Parameters:

rampRate - the maximum rate of change of the votlage, in Volts / sec.

updateTable

default void updateTable()

Description copied from interface: LiveWindowSendable

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

getSmartDashboardType

default java.lang.String getSmartDashboardType()

Description copied from interface: Sendable

The string representation of the named data type that will be used by the smart dashboard for this Sendable.

Specified by:

getSmartDashboardType in interface Sendable

Returns:

The type of this Sendable.

createTableListener

default ITableListener createTableListener()

Creates an ITableListener for the LiveWindow table for this CAN speed controller.