Package com.ctre.phoenix.motorcontrol.can

Class WPI_VictorSPX

java.lang.Object

com.ctre.phoenix.motorcontrol.can.BaseMotorController

com.ctre.phoenix.motorcontrol.can.VictorSPX

com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX

All Implemented Interfaces:

IFollower, IMotorController, IInvertable, IOutputSignal, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.wpilibj.SpeedController, AutoCloseable

public class WPI_VictorSPX
extends VictorSPX
implements edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.util.sendable.Sendable, AutoCloseable

VEX Victor SPX Motor Controller when used on CAN Bus.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	kDefaultSafetyExpiration	The default motor safety timeout IF calling application enables the feature.

Fields inherited from class com.ctre.phoenix.motorcontrol.can.BaseMotorController

m_handle

Constructor Summary

Constructors

Constructor	Description
WPI_VictorSPX(int deviceNumber)	Constructor for motor controller

Method Summary

Modifier and Type	Method	Description
void	close()
void	disable()	Common interface for disabling a motor.
void	feed()	Feed the motor safety object.
double	get()	Common interface for getting the current set speed of a speed controller.
String	getDescription()
double	getExpiration()	Retrieve the timeout value for the corresponding motor safety object.
boolean	getInverted()	Common interface for returning the inversion state of a speed controller.
void	initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)	Initialize sendable
boolean	isAlive()	Determine of the motor is still operating or has timed out.
boolean	isSafetyEnabled()	Return the state of the motor safety enabled flag.
void	set(double speed)	Common interface for setting the speed of a simple speed controller.
void	set(ControlMode mode, double value)	Sets the appropriate output on the talon, depending on the mode.
void	set(ControlMode mode, double demand0, DemandType demand1Type, double demand1)
void	setExpiration(double expirationTime)	Set the expiration time for the corresponding motor safety object.
void	setInverted(boolean isInverted)	Common interface for inverting direction of a speed controller.
void	setSafetyEnabled(boolean enabled)	Enable/disable motor safety for this device.
void	setVoltage(double outputVolts)	Sets the voltage output of the MotorController.
void	stopMotor()	Common interface to stop the motor until Set is called again.

Methods inherited from class com.ctre.phoenix.motorcontrol.can.VictorSPX

configAllSettings, configAllSettings, getAllConfigs, getAllConfigs, getPIDConfigs, getPIDConfigs, getSimCollection, set, set

Methods inherited from class com.ctre.phoenix.motorcontrol.can.BaseMotorController

baseConfigAllSettings, baseConfigurePID, baseGetAllConfigs, baseGetPIDConfigs, changeMotionControlFramePeriod, clearMotionProfileHasUnderrun, clearMotionProfileHasUnderrun, clearMotionProfileTrajectories, clearStickyFaults, clearStickyFaults, config_IntegralZone, config_IntegralZone, config_kD, config_kD, config_kF, config_kF, config_kI, config_kI, config_kP, config_kP, configAllowableClosedloopError, configAllowableClosedloopError, configAuxPIDPolarity, configAuxPIDPolarity, configClearPositionOnLimitF, configClearPositionOnLimitR, configClearPositionOnQuadIdx, configClosedLoopPeakOutput, configClosedLoopPeakOutput, configClosedLoopPeriod, configClosedLoopPeriod, configClosedloopRamp, configClosedloopRamp, configFactoryDefault, configFactoryDefault, configFeedbackNotContinuous, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardSoftLimitEnable, configForwardSoftLimitEnable, configForwardSoftLimitThreshold, configForwardSoftLimitThreshold, configGetCustomParam, configGetCustomParam, configGetParameter, configGetParameter, configGetParameter, configGetParameter, configLimitSwitchDisableNeutralOnLOS, configMaxIntegralAccumulator, configMaxIntegralAccumulator, configMotionAcceleration, configMotionAcceleration, configMotionCruiseVelocity, configMotionCruiseVelocity, configMotionProfileTrajectoryInterpolationEnable, configMotionProfileTrajectoryInterpolationEnable, configMotionProfileTrajectoryPeriod, configMotionProfileTrajectoryPeriod, configMotionSCurveStrength, configMotionSCurveStrength, configNeutralDeadband, configNeutralDeadband, configNominalOutputForward, configNominalOutputForward, configNominalOutputReverse, configNominalOutputReverse, configOpenloopRamp, configOpenloopRamp, configPeakOutputForward, configPeakOutputForward, configPeakOutputReverse, configPeakOutputReverse, configPulseWidthPeriod_EdgesPerRot, configPulseWidthPeriod_FilterWindowSz, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteSensorClosedLoopDisableNeutralOnLOS, configReverseLimitSwitchSource, configReverseLimitSwitchSource, configReverseLimitSwitchSource, configReverseSoftLimitEnable, configReverseSoftLimitEnable, configReverseSoftLimitThreshold, configReverseSoftLimitThreshold, configSelectedFeedbackCoefficient, configSelectedFeedbackCoefficient, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSensorTerm, configSensorTerm, configSensorTerm, configSensorTerm, configSetCustomParam, configSetCustomParam, configSetParameter, configSetParameter, configSetParameter, configSetParameter, configSoftLimitDisableNeutralOnLOS, configureFilter, configureFilter, configureFilter, configureSlot, configureSlot, configVelocityMeasurementPeriod, configVelocityMeasurementPeriod, configVelocityMeasurementPeriod, configVelocityMeasurementPeriod, configVelocityMeasurementWindow, configVelocityMeasurementWindow, configVoltageCompSaturation, configVoltageCompSaturation, configVoltageMeasurementFilter, configVoltageMeasurementFilter, DestroyObject, enableVoltageCompensation, follow, follow, getActiveTrajectoryArbFeedFwd, getActiveTrajectoryArbFeedFwd, getActiveTrajectoryPosition, getActiveTrajectoryPosition, getActiveTrajectoryVelocity, getActiveTrajectoryVelocity, getBaseID, getBusVoltage, getClosedLoopError, getClosedLoopError, getClosedLoopTarget, getClosedLoopTarget, getControlMode, getDeviceID, getErrorDerivative, getErrorDerivative, getFaults, getFilterConfigs, getFilterConfigs, getFirmwareVersion, getHandle, getIntegralAccumulator, getIntegralAccumulator, getLastError, getMotionProfileStatus, getMotionProfileTopLevelBufferCount, getMotorOutputPercent, getMotorOutputVoltage, getOutputCurrent, getSelectedSensorPosition, getSelectedSensorPosition, getSelectedSensorVelocity, getSelectedSensorVelocity, getSlotConfigs, getSlotConfigs, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStickyFaults, getTemperature, getVictorSPXSimCollection, hasResetOccurred, isMotionProfileFinished, isMotionProfileTopLevelBufferFull, isVoltageCompensationEnabled, neutralOutput, overrideLimitSwitchesEnable, overrideSoftLimitsEnable, processMotionProfileBuffer, pushMotionProfileTrajectory, selectProfileSlot, setControlFramePeriod, setControlFramePeriod, setIntegralAccumulator, setIntegralAccumulator, setInverted, setNeutralMode, setSelectedSensorPosition, setSelectedSensorPosition, setSensorPhase, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, startMotionProfile, valueUpdated

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.ctre.phoenix.motorcontrol.IFollower

follow, valueUpdated

Methods inherited from interface com.ctre.phoenix.motorcontrol.IMotorController

changeMotionControlFramePeriod, clearMotionProfileHasUnderrun, clearMotionProfileTrajectories, clearStickyFaults, config_IntegralZone, config_kD, config_kF, config_kI, config_kP, configAllowableClosedloopError, configAuxPIDPolarity, configClosedLoopPeakOutput, configClosedLoopPeriod, configClosedloopRamp, configForwardLimitSwitchSource, configForwardSoftLimitEnable, configForwardSoftLimitThreshold, configGetCustomParam, configGetParameter, configGetParameter, configMaxIntegralAccumulator, configMotionAcceleration, configMotionCruiseVelocity, configMotionProfileTrajectoryPeriod, configMotionSCurveStrength, configNeutralDeadband, configNominalOutputForward, configNominalOutputReverse, configOpenloopRamp, configPeakOutputForward, configPeakOutputReverse, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configReverseLimitSwitchSource, configReverseSoftLimitEnable, configReverseSoftLimitThreshold, configSelectedFeedbackCoefficient, configSelectedFeedbackSensor, configSensorTerm, configSetCustomParam, configSetParameter, configSetParameter, configVoltageCompSaturation, configVoltageMeasurementFilter, enableVoltageCompensation, getActiveTrajectoryPosition, getActiveTrajectoryVelocity, getBaseID, getBusVoltage, getClosedLoopError, getClosedLoopTarget, getControlMode, getDeviceID, getErrorDerivative, getFaults, getFirmwareVersion, getIntegralAccumulator, getLastError, getMotionProfileStatus, getMotionProfileTopLevelBufferCount, getMotorOutputPercent, getMotorOutputVoltage, getSelectedSensorPosition, getSelectedSensorVelocity, getStatusFramePeriod, getStickyFaults, getTemperature, hasResetOccurred, isMotionProfileTopLevelBufferFull, neutralOutput, overrideLimitSwitchesEnable, overrideSoftLimitsEnable, processMotionProfileBuffer, pushMotionProfileTrajectory, selectProfileSlot, setControlFramePeriod, setIntegralAccumulator, setInverted, setNeutralMode, setSelectedSensorPosition, setSensorPhase, setStatusFramePeriod

Field Details

kDefaultSafetyExpiration

public static final double kDefaultSafetyExpiration

The default motor safety timeout IF calling application enables the feature.

See Also:

• Constant Field Values

Constructor Details

WPI_VictorSPX

public WPI_VictorSPX(int deviceNumber)

Constructor for motor controller

Parameters:

deviceNumber - device ID of motor controller

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

set

public void set(double speed)

Common interface for setting the speed of a simple speed controller.

Specified by:

set in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

set in interface edu.wpi.first.wpilibj.SpeedController

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0. Value is also saved for Get().

get

public double get()

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

Specified by:

get in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

get in interface edu.wpi.first.wpilibj.SpeedController

Returns:

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

set

public void set(ControlMode mode,
 double value)

Sets the appropriate output on the talon, depending on the mode.

Specified by:

set in interface IMotorController

Overrides:

set in class BaseMotorController

Parameters:

mode - The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the talon to duplicate.

value - The setpoint value, as described above. Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);

set

public void set(ControlMode mode,
 double demand0,
 DemandType demand1Type,
 double demand1)

Specified by:

set in interface IMotorController

Overrides:

set in class BaseMotorController

Parameters:

mode - Sets the appropriate output on the talon, depending on the mode.

demand0 - The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the talon to duplicate.

demand1Type - The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0.

demand1 - Supplmental output value. Units match the set mode. Arcade Drive Example: _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn); Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading); Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

setVoltage

public void setVoltage(double outputVolts)

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 edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

setVoltage in interface edu.wpi.first.wpilibj.SpeedController

Parameters:

outputVolts - The voltage to output.

setInverted

public void setInverted(boolean isInverted)

Common interface for inverting direction of a speed controller.

Specified by:

setInverted in interface IInvertable

Specified by:

setInverted in interface IMotorController

Specified by:

setInverted in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

setInverted in interface edu.wpi.first.wpilibj.SpeedController

Overrides:

setInverted in class BaseMotorController

Parameters:

isInverted - The state of inversion, true is inverted.

getInverted

public boolean getInverted()

Common interface for returning the inversion state of a speed controller.

Specified by:

getInverted in interface IInvertable

Specified by:

getInverted in interface IMotorController

Specified by:

getInverted in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

getInverted in interface edu.wpi.first.wpilibj.SpeedController

Overrides:

getInverted in class BaseMotorController

Returns:

The state of inversion, true is inverted.

disable

public void disable()

Common interface for disabling a motor.

Specified by:

disable in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

disable in interface edu.wpi.first.wpilibj.SpeedController

stopMotor

public void stopMotor()

Common interface to stop the motor until Set is called again.

Specified by:

stopMotor in interface edu.wpi.first.wpilibj.motorcontrol.MotorController

Specified by:

stopMotor in interface edu.wpi.first.wpilibj.SpeedController

initSendable

public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)

Initialize sendable

Specified by:

initSendable in interface edu.wpi.first.util.sendable.Sendable

Parameters:

builder - Base sendable to build on

getDescription

public String getDescription()

Returns:

description of controller

feed

public void feed()

Feed the motor safety object.

Resets the timer on this object that is used to do the timeouts.

setExpiration

public void setExpiration(double expirationTime)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime - The timeout value in seconds.

getExpiration

public double getExpiration()

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

isAlive

public boolean isAlive()

Determine of the motor is still operating or has timed out.

Returns:

a true value if the motor is still operating normally and hasn't timed out.

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this PWM object.

Parameters:

enabled - True if motor safety is enforced for this object

isSafetyEnabled

public boolean isSafetyEnabled()

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns:

True if motor safety is enforced for this device