Package com.team2813.lib2813.vendor.rev.motor

Class SparkMaxWrapper

java.lang.Object

com.team2813.lib2813.vendor.rev.motor.SparkMaxWrapper

All Implemented Interfaces:

com.team2813.lib2813.control.Encoder, com.team2813.lib2813.control.Motor, com.team2813.lib2813.control.PIDMotor

public class SparkMaxWrapper
extends Object
implements com.team2813.lib2813.control.PIDMotor

Constructor Summary

Constructors

Constructor	Description
SparkMaxWrapper(int deviceId, SparkLowLevel.MotorType type, com.team2813.lib2813.control.InvertType invertType)	Create a new object to control a SPARK MAX motor Controller

Method Summary

Modifier and Type	Method	Description
void	addFollower(int deviceId, SparkLowLevel.MotorType type, com.team2813.lib2813.control.InvertType invertType)
void	configPID(double p, double i, double d)
void	configPID(int slot, double p, double i, double d)
void	configPIDF(double p, double i, double d, double f)
void	configPIDF(int slot, double p, double i, double d, double f)
Current	getAppliedCurrent()
Angle	getPositionMeasure()
AngularVelocity	getVelocityMeasure()
void	set(com.team2813.lib2813.control.ControlMode controlMode, double demand)
void	set(com.team2813.lib2813.control.ControlMode controlMode, double demand, double feedForward)
void	setPosition(Angle position)
void	stopMotor()

Methods inherited from class java.lang.Object

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

Constructor Details

SparkMaxWrapper

public SparkMaxWrapper(int deviceId,
 SparkLowLevel.MotorType type,
 com.team2813.lib2813.control.InvertType invertType)

Create a new object to control a SPARK MAX motor Controller

Parameters:

deviceId - The device ID.

type - The motor type connected to the controller. Brushless motor wires must be connected to their matching colors and the hall sensor must be plugged in. Brushed motors must be connected to the Red and Black terminals only.

invertType - Whether the motor is inverted

Method Details

set

public void set(com.team2813.lib2813.control.ControlMode controlMode,
 double demand)

Specified by:

set in interface com.team2813.lib2813.control.Motor

set

public void set(com.team2813.lib2813.control.ControlMode controlMode,
 double demand,
 double feedForward)

Specified by:

set in interface com.team2813.lib2813.control.Motor

getPositionMeasure

public Angle getPositionMeasure()

Specified by:

getPositionMeasure in interface com.team2813.lib2813.control.Encoder

getAppliedCurrent

public Current getAppliedCurrent()

Specified by:

getAppliedCurrent in interface com.team2813.lib2813.control.Motor

stopMotor

public void stopMotor()

Specified by:

stopMotor in interface com.team2813.lib2813.control.Motor

setPosition

public void setPosition(Angle position)

Specified by:

setPosition in interface com.team2813.lib2813.control.Encoder

getVelocityMeasure

public AngularVelocity getVelocityMeasure()

Specified by:

getVelocityMeasure in interface com.team2813.lib2813.control.Encoder

configPIDF

public void configPIDF(int slot,
 double p,
 double i,
 double d,
 double f)

Specified by:

configPIDF in interface com.team2813.lib2813.control.PIDMotor

configPIDF

public void configPIDF(double p,
 double i,
 double d,
 double f)

Specified by:

configPIDF in interface com.team2813.lib2813.control.PIDMotor

configPID

public void configPID(int slot,
 double p,
 double i,
 double d)

Specified by:

configPID in interface com.team2813.lib2813.control.PIDMotor

configPID

public void configPID(double p,
 double i,
 double d)

Specified by:

configPID in interface com.team2813.lib2813.control.PIDMotor

addFollower

public void addFollower(int deviceId,
 SparkLowLevel.MotorType type,
 com.team2813.lib2813.control.InvertType invertType)