Package com.team2813.lib2813.subsystems

Class MotorSubsystem.ControlledMotor

java.lang.Object

com.team2813.lib2813.subsystems.MotorSubsystem.ControlledMotor

All Implemented Interfaces:

Motor

Enclosing class:

MotorSubsystem<T extends Supplier<Angle>>

protected final class MotorSubsystem.ControlledMotor
extends Object
implements Motor

A motor that is controlled by a subclass of MotorSubsystem.

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.
void	stopMotor()	Stops the motor.

Methods inherited from class java.lang.Object

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

Method Details

set

public void set(ControlMode mode,
 double demand)

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

Additionally, this method disables PID control of the subsystem

Specified by:

set in interface Motor

Parameters:

mode - The mode to control the motor with

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

set

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

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

Additionally, this method disables PID control of the subsystem. It does not clamp the provided value.

Specified by:

set in interface Motor

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

public Current getAppliedCurrent()

Description copied from interface: Motor

Gets the current that is being applied onto the motor

Specified by:

getAppliedCurrent in interface Motor

Returns:

The current applied current

stopMotor

public void stopMotor()

Stops the motor.

The motor voltage will be set to zero, and the motor will not adjust to move towards the current setpoint.

Specified by:

stopMotor in interface Motor