Package com.team2813.lib2813.control

Interface Motor

All Known Subinterfaces:

PIDMotor

All Known Implementing Classes:

MotorSubsystem.ControlledMotor

public interface Motor

Method Summary

Modifier and Type	Method	Description
Current	getAppliedCurrent()	Gets the current that is being applied onto the motor
void	set(ControlMode mode, double demand)	Sets the motor to run with a specified mode of control.
void	set(ControlMode mode, double demand, double feedForward)	Sets the motor to run with a specified mode of control, and feedForward.
default void	stopMotor()	Stops the motor.

Method Details

set

void set(ControlMode mode,
 double demand)

Sets the motor to run with a specified mode of control.

Parameters:

mode - The mode to control the motor with

demand - The demand of the motor. differentiating meaning with each control mode

set

void set(ControlMode mode,
 double demand,
 double feedForward)

Sets the motor to run with a specified mode of control, and feedForward.

Parameters:

mode - The mode to control the motor with

demand - The demand of the motor. differentiating meaning with each control mode

feedForward - The feedForward to apply to the motor

getAppliedCurrent

Current getAppliedCurrent()

Gets the current that is being applied onto the motor

Returns:

The current applied current

Since:

2.0.0

stopMotor

default void stopMotor()

Stops the motor.

Since:

2.0.0