Package frclib.motor

Class FrcCANTalonSRX

java.lang.Object

trclib.motor.TrcMotor

frclib.motor.FrcCANPhoenix5Controller<com.ctre.phoenix.motorcontrol.can.TalonSRX>

frclib.motor.FrcCANTalonSRX

All Implemented Interfaces:

TrcMotorController, TrcExclusiveSubsystem, TrcOdometrySensor

public class FrcCANTalonSRX
extends FrcCANPhoenix5Controller<com.ctre.phoenix.motorcontrol.can.TalonSRX>

This class implements a CanTalonSrx motor controller. It extends the TrcMotor class and implements the abstract methods required by TrcMotor to be compatible with the TRC library.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.motor.TrcMotor

TrcMotor.ExternalSensors, TrcMotor.FollowerMotor, TrcMotor.PowerCompensation

Nested classes/interfaces inherited from interface trclib.robotcore.TrcExclusiveSubsystem

TrcExclusiveSubsystem.OwnershipParams

Nested classes/interfaces inherited from interface trclib.sensor.TrcOdometrySensor

TrcOdometrySensor.Odometry

Field Summary

Fields inherited from class frclib.motor.FrcCANPhoenix5Controller

motor

Fields inherited from class trclib.motor.TrcMotor

instanceName, motorGetPositionElapsedTimer, motorSetCurrentElapsedTimer, motorSetPositionElapsedTimer, motorSetPowerElapsedTimer, motorSetVelocityElapsedTimer, tracer

Constructor Summary

Constructors

Constructor	Description
FrcCANTalonSRX(String instanceName, int canId)	Constructor: Create an instance of the object.
FrcCANTalonSRX(String instanceName, int canId, TrcMotor.ExternalSensors sensors)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	setAbsoluteZeroOffset(int rangeLow, int rangeHigh, boolean crossZeroOnInterval, int zeroOffset)	This method synchronizes the internal encoder to the absolute zero position.

Methods inherited from class frclib.motor.FrcCANPhoenix5Controller

disableMotorFwdLimitSwitch, disableMotorRevLimitSwitch, enableMotorFwdLimitSwitch, enableMotorRevLimitSwitch, follow, getBusVoltage, getEncoderSendable, getErrorCount, getLastError, getMotorCurrent, getMotorCurrentPidCoefficients, getMotorPosition, getMotorPositionPidCoefficients, getMotorPower, getMotorVelocity, getMotorVelocityPidCoefficients, isMotorFwdLimitSwitchActive, isMotorFwdLimitSwitchEnabled, isMotorInverted, isMotorPositionSensorInverted, isMotorRevLimitSwitchActive, isMotorRevLimitSwitchEnabled, isVoltageCompensationEnabled, recordResponseCode, resetFactoryDefault, resetMotorPosition, setBrakeModeEnabled, setCloseLoopRampRate, setCurrentLimit, setFeedbackDevice, setMotorCurrent, setMotorCurrentPidCoefficients, setMotorFwdLimitSwitchInverted, setMotorFwdSoftPositionLimit, setMotorInverted, setMotorPosition, setMotorPositionPidCoefficients, setMotorPositionSensorInverted, setMotorPower, setMotorRevLimitSwitchInverted, setMotorRevSoftPositionLimit, setMotorVelocity, setMotorVelocityPidCoefficients, setOpenLoopRampRate, setStatorCurrentLimit, setVoltageCompensationEnabled

Methods inherited from class trclib.motor.TrcMotor

addFollower, cancel, clearOdometryMotorsList, convertPositionToScaledUnits, convertPositionToSensorUnits, disableLowerLimitSwitch, disableMotionProfile, disableUpperLimitSwitch, enableLowerLimitSwitch, enableMotionProfile, enableUpperLimitSwitch, follow, getCurrent, getCurrentOnTarget, getCurrentPidCoefficients, getCurrentPidController, getEncoderRawPosition, getFollower, getName, getNumOdometryMotors, getOdometry, getPidTarget, getPosition, getPositionOnTarget, getPositionPidCoefficients, getPositionPidController, getPower, getVelocity, getVelocityOnTarget, getVelocityPidCoefficients, getVelocityPidController, isCalibrating, isLowerLimitSwitchActive, isLowerLimitSwitchEnabled, isOdometryEnabled, isPositionSensorInverted, isUpperLimitSwitchActive, isUpperLimitSwitchEnabled, presetPositionDown, presetPositionUp, presetVelocityDown, presetVelocityUp, printElapsedTime, printPidControlTaskPerformance, resetOdometry, resetPosition, resetPosition, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, setBeep, setBeep, setCurrent, setCurrent, setCurrent, setCurrent, setCurrentPidParameters, setCurrentPidParameters, setCurrentPidParameters, setCurrentPidPowerComp, setCurrentPidTolerance, setElapsedTimerEnabled, setLimitSwitchesSwapped, setLowerLimitSwitchInverted, setOdometryEnabled, setPerformanceMonitorEnabled, setPidPower, setPidPower, setPidStallDetectionEnabled, setPidStallDetectionEnabled, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPositionPidParameters, setPositionPidParameters, setPositionPidParameters, setPositionPidPowerComp, setPositionPidTolerance, setPositionSensorInverted, setPositionSensorScaleAndOffset, setPositionSensorScaleAndOffset, setPower, setPower, setPower, setPower, setPresetPosition, setPresets, setPresetVelocity, setSoftPositionLimits, setSoftwarePidEnabled, setStallProtection, setTraceLevel, setUpperLimitSwitchInverted, setVelocity, setVelocity, setVelocity, setVelocity, setVelocityParameters, setVelocityPidParameters, setVelocityPidParameters, setVelocityPidPowerComp, setVelocityPidTolerance, stop, toString, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.robotcore.TrcExclusiveSubsystem

acquireExclusiveAccess, acquireOwnership, cancelExclusiveAccess, getCurrentOwner, hasOwnership, releaseExclusiveAccess, releaseOwnership, validateOwnership

Methods inherited from interface trclib.sensor.TrcOdometrySensor

getOdometries, getOdometry

Constructor Details

FrcCANTalonSRX

public FrcCANTalonSRX(String instanceName,
 int canId,
 TrcMotor.ExternalSensors sensors)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

canId - specifies the CAN ID of the device.

sensors - specifies external sensors, can be null if none.

FrcCANTalonSRX

public FrcCANTalonSRX(String instanceName,
 int canId)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

canId - specifies the CAN ID of the device.

Method Details

setAbsoluteZeroOffset

public void setAbsoluteZeroOffset(int rangeLow,
 int rangeHigh,
 boolean crossZeroOnInterval,
 int zeroOffset)

This method synchronizes the internal encoder to the absolute zero position.

Parameters:

rangeLow - specifies the low range of the absolute encoder reading.

rangeHigh - specifies the high range of the absolute encoder reading.

crossZeroOnInterval - specifies true if the absoulte encoder will cross the zero point.

zeroOffset - specifies the encoder offset of the absolute zero position.