Package lib.custom.motorcontrollers

Interface SmartMotorController

All Superinterfaces:

edu.wpi.first.wpilibj.motorcontrol.MotorController

All Known Implementing Classes:

CustomSparkMax, CustomTalonFX, SmartMotorController.SpeedModifiedSmartMotor

public interface SmartMotorController
extends edu.wpi.first.wpilibj.motorcontrol.MotorController

Represents a "smart" motor controller, like the TalonFX, TalonSRX, or SparkMax

These should support brake mode, follow mode, limit switches, and various closed-loop control modes.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	SmartMotorController.SpeedModifiedSmartMotor

Method Summary

Modifier and Type	Method	Description
boolean	isFwdLimitSwitchPressed()
boolean	isRevLimitSwitchPressed()
void	setMotorBrake(boolean brake)
default SmartMotorController	withSpeedMultiplier(double multiplier)

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

disable, get, getInverted, set, setInverted, setVoltage, setVoltage, stopMotor

Method Details

isFwdLimitSwitchPressed

boolean isFwdLimitSwitchPressed()
                         throws IllegalAccessException

Throws:

IllegalAccessException

isRevLimitSwitchPressed

boolean isRevLimitSwitchPressed()
                         throws IllegalAccessException

Throws:

IllegalAccessException

setMotorBrake

void setMotorBrake(boolean brake)

withSpeedMultiplier

default SmartMotorController withSpeedMultiplier(double multiplier)