edu.wpi.first.wpilibj

Class NidecBrushless

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.NidecBrushless

All Implemented Interfaces:

MotorSafety, PIDOutput, Sendable, SpeedController

public class NidecBrushless
extends SendableBase
implements SpeedController, MotorSafety, Sendable

Nidec Brushless Motor.

Field Summary

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

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
NidecBrushless(int pwmChannel, int dioChannel) Constructor.

Method Summary

Modifier and Type	Method and Description
void	disable() Disable the motor.
void	enable() Re-enable the motor after disable() has been called.
void	free() Free the resources used by this object.
double	get() Get the recently set value of the PWM.
int	getChannel() Gets the channel number associated with the object.
java.lang.String	getDescription()
double	getExpiration() Return the safety expiration time.
boolean	getInverted() Common interface for returning if a speed controller is in the inverted state or not.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
boolean	isAlive() Check if the motor is currently alive or stopped due to a timeout.
boolean	isSafetyEnabled() Check if motor safety is enabled.
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	setExpiration(double timeout) Set the safety expiration time.
void	setInverted(boolean isInverted) Common interface for inverting direction of a speed controller.
void	setSafetyEnabled(boolean enabled)
void	stopMotor() Stop the motor.

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

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

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.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Constructor Detail

NidecBrushless

public NidecBrushless(int pwmChannel,
                      int dioChannel)

Constructor.

Parameters:

pwmChannel - The PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

dioChannel - The DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port

Method Detail

free

public void free()

Free the resources used by this object.

Overrides:

free in class SendableBase

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.

setInverted

public void setInverted(boolean isInverted)

Description copied from interface: SpeedController

Common interface for inverting direction of a speed controller.

Specified by:

setInverted in interface SpeedController

Parameters:

isInverted - The state of inversion true is inverted.

getInverted

public boolean getInverted()

Description copied from interface: SpeedController

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

Specified by:

getInverted in interface SpeedController

Returns:

isInverted The state of the inversion true is inverted.

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

setExpiration

public void setExpiration(double timeout)

Set the safety expiration time.

Specified by:

setExpiration in interface MotorSafety

Parameters:

timeout - The timeout (in seconds) for this motor object

getExpiration

public double getExpiration()

Return the safety expiration time.

Specified by:

getExpiration in interface MotorSafety

Returns:

The expiration time value.

isAlive

public boolean isAlive()

Check if the motor is currently alive or stopped due to a timeout.

Specified by:

isAlive in interface MotorSafety

Returns:

a bool value that is true if the motor has NOT timed out and should still be running.

stopMotor

public void stopMotor()

Stop the motor. This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to stop it from running. Calling set() will re-enable the motor.

Specified by:

stopMotor in interface MotorSafety

Specified by:

stopMotor in interface SpeedController

isSafetyEnabled

public boolean isSafetyEnabled()

Check if motor safety is enabled.

Specified by:

isSafetyEnabled in interface MotorSafety

Returns:

True if motor safety is enforced for this object

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Specified by:

setSafetyEnabled in interface MotorSafety

getDescription

public java.lang.String getDescription()

Specified by:

getDescription in interface MotorSafety

disable

public void disable()

Disable the motor. The enable() function must be called to re-enable the motor.

Specified by:

disable in interface SpeedController

enable

public void enable()

Re-enable the motor after disable() has been called. The set() function must be called to set a new motor speed.

getChannel

public int getChannel()

Gets the channel number associated with the object.

Returns:

The channel number.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder