edu.wpi.first.wpilibj

Class PWMSpeedController

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.SafePWM

edu.wpi.first.wpilibj.PWMSpeedController

All Implemented Interfaces:

MotorSafety, PIDOutput, Sendable, SpeedController

Direct Known Subclasses:

DMC60, Jaguar, PWMTalonSRX, PWMVictorSPX, SD540, Spark, Talon, Victor, VictorSP

public abstract class PWMSpeedController
extends SafePWM
implements SpeedController

Common base class for all PWM Speed Controllers.

Nested Class Summary

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

PWM.PeriodMultiplier

Field Summary

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

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	PWMSpeedController(int channel) Constructor.

Method Summary

Modifier and Type	Method and Description
double	get() Get the recently set value of the PWM.
boolean	getInverted() Common interface for returning if a speed controller is in the inverted state or not.
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	setInverted(boolean isInverted) Common interface for inverting direction of a speed controller.

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

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

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

enableDeadbandElimination, free, getChannel, getPosition, getRaw, getRawBounds, getSpeed, initSendable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch

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.SpeedController

disable, stopMotor

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

getName, getSubsystem, setName, setName, setSubsystem

Constructor Detail

PWMSpeedController

protected PWMSpeedController(int channel)

Constructor.

Parameters:

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

Method Detail

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