Package edu.wpi.first.wpilibj

Class NidecBrushless

java.lang.Object

edu.wpi.first.wpilibj.MotorSafety

edu.wpi.first.wpilibj.NidecBrushless

All Implemented Interfaces:

PIDOutput, Sendable, SpeedController, AutoCloseable

public class NidecBrushless
extends MotorSafety
implements SpeedController, Sendable, AutoCloseable

Nidec Brushless Motor.

Constructor Summary

Constructors

Constructor	Description
NidecBrushless(int pwmChannel, int dioChannel)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	addChild(Object child)	Add a child component.
void	close()
void	disable()	Disable the motor.
void	enable()	Re-enable the motor after disable() has been called.
double	get()	Get the recently set value of the PWM.
int	getChannel()	Gets the channel number associated with the object.
String	getDescription()
boolean	getInverted()	Common interface for returning if a speed controller is in the inverted state or not.
String	getName()	Gets the name of this Sendable object.
String	getSubsystem()	Gets the subsystem name of this Sendable object.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	pidWrite(double output)	Write out the PID value as seen in the PIDOutput base object.
void	set(double speed)	Set the PWM value.
void	setInverted(boolean isInverted)	Common interface for inverting direction of a speed controller.
void	setName(String name)	Sets the name of this Sendable object.
protected void	setName(String moduleType, int channel)	Sets the name of the sensor with a channel number.
protected void	setName(String moduleType, int moduleNumber, int channel)	Sets the name of the sensor with a module and channel number.
void	setSubsystem(String subsystem)	Sets the subsystem name of this Sendable object.
void	stopMotor()	Stop the motor.

Methods inherited from class edu.wpi.first.wpilibj.MotorSafety

check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled

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.Sendable

setName

Constructor Detail

NidecBrushless

public NidecBrushless(int pwmChannel,
                      int dioChannel)

Constructor.

Parameters:

pwmChannel - The PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

dioChannel - The DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port

Method Detail

close

public void close()

Specified by:

close in interface AutoCloseable

getName

public final String getName()

Description copied from interface: Sendable

Gets the name of this Sendable object.

Specified by:

getName in interface Sendable

Returns:

Name

setName

public final void setName(String name)

Description copied from interface: Sendable

Sets the name of this Sendable object.

Specified by:

setName in interface Sendable

Parameters:

name - name

setName

protected final void setName(String moduleType,
                             int channel)

Sets the name of the sensor with a channel number.

Parameters:

moduleType - A string that defines the module name in the label for the value

channel - The channel number the device is plugged into

setName

protected final void setName(String moduleType,
                             int moduleNumber,
                             int channel)

Sets the name of the sensor with a module and channel number.

Parameters:

moduleType - A string that defines the module name in the label for the value

moduleNumber - The number of the particular module type

channel - The channel number the device is plugged into (usually PWM)

getSubsystem

public final String getSubsystem()

Description copied from interface: Sendable

Gets the subsystem name of this Sendable object.

Specified by:

getSubsystem in interface Sendable

Returns:

Subsystem name

setSubsystem

public final void setSubsystem(String subsystem)

Description copied from interface: Sendable

Sets the subsystem name of this Sendable object.

Specified by:

setSubsystem in interface Sendable

Parameters:

subsystem - subsystem name

addChild

protected final void addChild(Object child)

Add a child component.

Parameters:

child - child component

set

public void set(double speed)

Set the PWM value.

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Specified by:

set in interface SpeedController

Parameters:

speed - The speed value between -1.0 and 1.0 to set.

get

public double get()

Get the recently set value of the PWM.

Specified by:

get in interface SpeedController

Returns:

The most recently set value for the PWM between -1.0 and 1.0.

setInverted

public void setInverted(boolean isInverted)

Description copied from interface: SpeedController

Common interface for inverting direction of a speed controller.

Specified by:

setInverted in interface SpeedController

Parameters:

isInverted - The state of inversion true is inverted.

getInverted

public boolean getInverted()

Description copied from interface: SpeedController

Common interface for returning if a speed controller is in the inverted state or not.

Specified by:

getInverted in interface SpeedController

Returns:

isInverted The state of the inversion true is inverted.

pidWrite

public void pidWrite(double output)

Write out the PID value as seen in the PIDOutput base object.

Specified by:

pidWrite in interface PIDOutput

Parameters:

output - Write out the PWM value as was found in the PIDController

stopMotor

public void stopMotor()

Stop the motor. This is called by the MotorSafety object when it has a timeout for this PWM and needs to stop it from running. Calling set() will re-enable the motor.

Specified by:

stopMotor in interface SpeedController

Specified by:

stopMotor in class MotorSafety

getDescription

public String getDescription()

Specified by:

getDescription in class MotorSafety

disable

public void disable()

Disable the motor. The enable() function must be called to re-enable the motor.

Specified by:

disable in interface SpeedController

enable

public void enable()

Re-enable the motor after disable() has been called. The set() function must be called to set a new motor speed.

getChannel

public int getChannel()

Gets the channel number associated with the object.

Returns:

The channel number.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder