Package com.team2813.lib2813.subsystems

Class MotorSubsystem.MotorSubsystemConfiguration

java.lang.Object

com.team2813.lib2813.subsystems.MotorSubsystem.MotorSubsystemConfiguration

Enclosing class:

MotorSubsystem<T extends Supplier<Angle>>

public static class MotorSubsystem.MotorSubsystemConfiguration
extends Object

A configuration for a MotorSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_ERROR	The default acceptable position error.
static final double	DEFAULT_STARTING_POSITION	The default starting position if one is not provided.

Constructor Summary

Constructors

Constructor	Description
MotorSubsystemConfiguration(Motor motor, Encoder encoder)	Creates a new configuration for a MotorSubsystems.
MotorSubsystemConfiguration(PIDMotor motor)	Creates a new config for MotorSubsystems using a motor that has a built-in encoder.

Method Summary

Modifier and Type	Method	Description
MotorSubsystem.MotorSubsystemConfiguration	acceptableError(double error)	Sets the acceptable position error.
MotorSubsystem.MotorSubsystemConfiguration	controller(PIDController controller)	Sets the controller used to calculate the next value
MotorSubsystem.MotorSubsystemConfiguration	controlMode(ControlMode controlMode)	Sets the control mode to use when giving output to the motor.
MotorSubsystem.MotorSubsystemConfiguration	PID(double p, double i, double d)	Sets the PID constants for the controller
MotorSubsystem.MotorSubsystemConfiguration	publishTo(NetworkTableInstance ntInstance)	Enables publishing of data to the provided network table instance.
MotorSubsystem.MotorSubsystemConfiguration	rotationUnit(AngleUnit rotationUnit)	Sets the unit to use for PID calculations
MotorSubsystem.MotorSubsystemConfiguration	startingPosition(Angle startingPosition)	Sets the initial setpoint of the controller
MotorSubsystem.MotorSubsystemConfiguration	startingPosition(Supplier<Angle> startingPositionSupplier)	Sets the initial setpoint of the controller from the current value of a supplier.

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_ERROR

public static final double DEFAULT_ERROR

The default acceptable position error.

See Also:

• Constant Field Values

DEFAULT_STARTING_POSITION

public static final double DEFAULT_STARTING_POSITION

The default starting position if one is not provided.

See Also:

• Constant Field Values

Constructor Details

MotorSubsystemConfiguration

public MotorSubsystemConfiguration(Motor motor,
 Encoder encoder)

Creates a new configuration for a MotorSubsystems. The default acceptable error is 5.0, the PID constants are set to 0, and the starting position is 0.0

Parameters:

motor - the motor to control

encoder - the encoder providing feedback

MotorSubsystemConfiguration

public MotorSubsystemConfiguration(PIDMotor motor)

Creates a new config for MotorSubsystems using a motor that has a built-in encoder. The default acceptable error is 5.0, the PID constants are set to 0, and the starting position is 0.0

Parameters:

motor - the integrated motor controller

Method Details

controller

public MotorSubsystem.MotorSubsystemConfiguration controller(PIDController controller)

Sets the controller used to calculate the next value

Parameters:

controller - The PID controller

Returns:

this for chaining

controlMode

public MotorSubsystem.MotorSubsystemConfiguration controlMode(ControlMode controlMode)

Sets the control mode to use when giving output to the motor. Defaults to ControlMode.DUTY_CYCLE.

Parameters:

controlMode - The mode to use when controlling the motor

Returns:

this for chaining

Throws:

IllegalArgumentException - If controlMode is for positional control

PID

public MotorSubsystem.MotorSubsystemConfiguration PID(double p,
 double i,
 double d)

Sets the PID constants for the controller

Parameters:

p - the proportional

i - the integral

d - the derivative

Returns:

this for chaining

startingPosition

public MotorSubsystem.MotorSubsystemConfiguration startingPosition(Angle startingPosition)

Sets the initial setpoint of the controller

Parameters:

startingPosition - the initial setpoint

Returns:

this for chaining

startingPosition

public MotorSubsystem.MotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPositionSupplier)

Sets the initial setpoint of the controller from the current value of a supplier.

This is provided to allow the subclass to define an Enum (that implements Supplier<Angle>) which defines the supported positions of this subsystem.

Parameters:

startingPositionSupplier - supplier to use to get the initial setpoint

Returns:

this for chaining

acceptableError

public MotorSubsystem.MotorSubsystemConfiguration acceptableError(double error)

Sets the acceptable position error.

Parameters:

error - the error which is considered tolerable for use with atPosition()}

Returns:

this for chaining

Throws:

IllegalArgumentException - If error is negative

rotationUnit

public MotorSubsystem.MotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit)

Sets the unit to use for PID calculations

Parameters:

rotationUnit - the angle unit to use for calculations

Returns:

this for chaining

publishTo

public MotorSubsystem.MotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance)

Enables publishing of data to the provided network table instance.

Parameters:

ntInstance - the network table instance to publish to

Returns:

this for chaining

Since:

2.0.0