Package lib.custom.motorcontrollers

Class SmartMotorController.SpeedModifiedSmartMotor

java.lang.Object

lib.custom.motorcontrollers.SmartMotorController.SpeedModifiedSmartMotor

All Implemented Interfaces:

edu.wpi.first.wpilibj.motorcontrol.MotorController, SmartMotorController

Enclosing interface:

SmartMotorController

public static class SmartMotorController.SpeedModifiedSmartMotor
extends Object

Nested Class Summary

Nested classes/interfaces inherited from interface lib.custom.motorcontrollers.SmartMotorController

SmartMotorController.SpeedModifiedSmartMotor

Field Summary

Fields

Modifier and Type	Field	Description
protected final SmartMotorController	motor

Constructor Summary

Constructors

Constructor	Description
SpeedModifiedSmartMotor(SmartMotorController motor, double multiplier)

Method Summary

Modifier and Type	Method	Description
void	disable()
double	get()
boolean	getInverted()
boolean	isFwdLimitSwitchPressed()
boolean	isRevLimitSwitchPressed()
void	set(double speed)
void	setInverted(boolean isInverted)
void	setMotorBrake(boolean brake)	Controls whether the motor brakes when not actively turning.
void	stopMotor()
SmartMotorController	withSpeedMultiplier(double multiplier)

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.motorcontrol.MotorController

setVoltage, setVoltage

Field Details

motor

protected final SmartMotorController motor

Constructor Details

SpeedModifiedSmartMotor

public SpeedModifiedSmartMotor(SmartMotorController motor,
 double multiplier)

Method Details

withSpeedMultiplier

public SmartMotorController withSpeedMultiplier(double multiplier)

set

public void set(double speed)

Specified by:

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

get

public double get()

Specified by:

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

isFwdLimitSwitchPressed

public boolean isFwdLimitSwitchPressed()
                                throws IllegalAccessException

Specified by:

isFwdLimitSwitchPressed in interface SmartMotorController

Throws:

IllegalAccessException

isRevLimitSwitchPressed

public boolean isRevLimitSwitchPressed()
                                throws IllegalAccessException

Specified by:

isRevLimitSwitchPressed in interface SmartMotorController

Throws:

IllegalAccessException

setMotorBrake

public void setMotorBrake(boolean brake)

Description copied from interface: SmartMotorController

Controls whether the motor brakes when not actively turning.

This does not brake the motor. Use .setVoltage(0) instead, after .setMotorBrake(true).

Specified by:

setMotorBrake in interface SmartMotorController

setInverted

public void setInverted(boolean isInverted)

Specified by:

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

getInverted

public boolean getInverted()

Specified by:

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

disable

public void disable()

Specified by:

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

stopMotor

public void stopMotor()

Specified by:

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