Class NidecBrushless

    • 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

      • 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
      • 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.