Package frclib.motor

Class FrcMotorActuator.Params

java.lang.Object
frclib.motor.FrcMotorActuator.Params
Enclosing class:
FrcMotorActuator
public static class FrcMotorActuator.Params extends Object
This class contains all the parameters for creating the motor.

  • Field Details

    • primaryMotorName

      public String primaryMotorName

    • primaryMotorId

      public int primaryMotorId

    • primaryMotorType

      public FrcMotorActuator.MotorType primaryMotorType

    • primaryMotorBrushless

      public boolean primaryMotorBrushless

    • primaryMotorAbsEnc

      public boolean primaryMotorAbsEnc

    • primaryMotorInverted

      public boolean primaryMotorInverted

    • followerMotorName

      public String followerMotorName

    • followerMotorId

      public int followerMotorId

    • followerMotorType

      public FrcMotorActuator.MotorType followerMotorType

    • followerMotorBrushless

      public boolean followerMotorBrushless

    • followerMotorAbsEnc

      public boolean followerMotorAbsEnc

    • followerMotorInverted

      public boolean followerMotorInverted

    • lowerLimitSwitchName

      public String lowerLimitSwitchName

    • lowerLimitSwitchChannel

      public int lowerLimitSwitchChannel

    • lowerLimitSwitchInverted

      public boolean lowerLimitSwitchInverted

    • upperLimitSwitchName

      public String upperLimitSwitchName

    • upperLimitSwitchChannel

      public int upperLimitSwitchChannel

    • upperLimitSwitchInverted

      public boolean upperLimitSwitchInverted

    • externalEncoder

      public TrcEncoder externalEncoder

    • externalEncoderName

      public String externalEncoderName

    • externalEncoderChannel

      public int externalEncoderChannel

    • externalEncoderInverted

      public boolean externalEncoderInverted

    • positionScale

      public double positionScale

    • positionOffset

      public double positionOffset

    • positionZeroOffset

      public double positionZeroOffset

    • positionPresets

      public double[] positionPresets

    • positionPresetTolerance

      public double positionPresetTolerance

  • Constructor Details

    • Params

      public Params()

  • Method Details

    • toString

      public String toString()
      This method returns the string format of the Params info.
      Overrides:
      toString in class Object
      Returns:
      string format of the params info.

    • setPrimaryMotor

      public FrcMotorActuator.Params setPrimaryMotor(String name, int motorId, FrcMotorActuator.MotorType motorType, boolean brushless, boolean absEnc, boolean inverted)
      This method sets the parameters of the primary motor.
      Parameters:
      name - specifies the name of the motor.
      motorId - specifies the ID for the motor (CAN ID for CAN motor, PWM channel for PWM motor).
      motorType - specifies the motor type.
      motorBrushless - specifies true if motor is brushless, false if brushed (only applicable for SparkMax).
      motorAbsEnc - specifies true if uses DutyCycle absolute encoder, false to use relative encoder (only applicable for SparkMax).
      motorInverted - specifies true to invert the motor direction, false otherwise.
      Returns:
      this object for chaining.

    • setFollowerMotor

      public FrcMotorActuator.Params setFollowerMotor(String name, int motorId, FrcMotorActuator.MotorType motorType, boolean brushless, boolean absEnc, boolean inverted)
      This method sets the parameters of the follower motor.
      Parameters:
      name - specifies the name of the motor.
      motorId - specifies the ID for the motor (CAN ID for CAN motor, PWM channel for PWM motor).
      motorType - specifies the motor type.
      motorBrushless - specifies true if motor is brushless, false if brushed (only applicable for SparkMax).
      motorAbsEnc - specifies true if uses DutyCycle absolute encoder, false to use relative encoder (only applicable for SparkMax).
      motorInverted - specifies true to invert the motor direction, false otherwise.
      Returns:
      this object for chaining.

    • setLowerLimitSwitch

      public FrcMotorActuator.Params setLowerLimitSwitch(String name, int channel, boolean inverted)
      This method sets the lower limit switch parameters.
      Parameters:
      name - specifies the name of the limit switch.
      channel - specifies the digital input channel if there is a lower limit switch, -1 otherwise.
      inverted - specifies true if the limit switch is normally open, false if normally close.
      Returns:
      this object for chaining.

    • setUpperLimitSwitch

      public FrcMotorActuator.Params setUpperLimitSwitch(String name, int channel, boolean inverted)
      This method sets the upper limit switch parameters.
      Parameters:
      name - specifies the name of the limit switch.
      channel - specifies the digital input channel if there is a lower limit switch, -1 otherwise.
      inverted - specifies true if the limit switch is normally open, false if normally close.
      Returns:
      this object for chaining.

    • setExternalEncoder

      public FrcMotorActuator.Params setExternalEncoder(TrcEncoder encoder)
      This method sets the external encoder parameters.
      Parameters:
      encoder - specifies the external analog encoder.
      Returns:
      this object for chaining.

    • setExternalEncoder

      public FrcMotorActuator.Params setExternalEncoder(String name, int channel, boolean inverted)
      This method sets the external encoder parameters.
      Parameters:
      name - specifies the name of the encoder.
      channel - specifies analog channel if there is an external encoder, -1 otherwise.
      inverted - specifies true if the encoder is inverted, false otherwise.
      Returns:
      this object for chaining.

    • setPositionScaleAndOffset

      public FrcMotorActuator.Params setPositionScaleAndOffset(double scale, double offset, double zeroOffset)
      This method sets the position sensor scale factor and offset.
      Parameters:
      scale - specifies scale factor to multiply the position sensor reading.
      offset - specifies offset added to the scaled sensor reading.
      zeroOffset - specifies the zero offset for absolute encoder.
      Returns:
      this object for chaining.

    • setPositionScaleAndOffset

      public FrcMotorActuator.Params setPositionScaleAndOffset(double scale, double offset)
      This method sets the position sensor scale factor and offset.
      Parameters:
      scale - specifies scale factor to multiply the position sensor reading.
      offset - specifies offset added to the scaled sensor reading.
      Returns:
      this object for chaining.

    • setPositionPresets

      public FrcMotorActuator.Params setPositionPresets(double tolerance, double... posPresets)
      This method sets an array of preset positions.
      Parameters:
      tolerance - specifies the preset tolerance.
      posPresets - specifies an array of preset positions in scaled unit.
      Returns:
      this object for chaining.