Package edu.wpi.first.wpilibj
Interface SpeedController
- All Superinterfaces:
PIDOutput
- All Known Implementing Classes:
DMC60
,Jaguar
,NidecBrushless
,PWMSparkMax
,PWMSpeedController
,PWMTalonFX
,PWMTalonSRX
,PWMVenom
,PWMVictorSPX
,SD540
,Spark
,SpeedControllerGroup
,Talon
,Victor
,VictorSP
public interface SpeedController extends PIDOutput
Interface for speed controlling devices.
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Method Summary
Modifier and Type Method Description void
disable()
Disable the speed controller.double
get()
Common interface for getting the current set speed of a speed controller.boolean
getInverted()
Common interface for returning if a speed controller is in the inverted state or not.void
set(double speed)
Common interface for setting the speed of a speed controller.void
setInverted(boolean isInverted)
Common interface for inverting direction of a speed controller.default void
setVoltage(double outputVolts)
Sets the voltage output of the SpeedController.void
stopMotor()
Stops motor movement.
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Method Details
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set
void set(double speed)Common interface for setting the speed of a speed controller.- Parameters:
speed
- The speed to set. Value should be between -1.0 and 1.0.
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setVoltage
default void setVoltage(double outputVolts)Sets the voltage output of the SpeedController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).NOTE: This function *must* be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."
- Parameters:
outputVolts
- The voltage to output.
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get
double get()Common interface for getting the current set speed of a speed controller.- Returns:
- The current set speed. Value is between -1.0 and 1.0.
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setInverted
void setInverted(boolean isInverted)Common interface for inverting direction of a speed controller.- Parameters:
isInverted
- The state of inversion true is inverted.
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getInverted
boolean getInverted()Common interface for returning if a speed controller is in the inverted state or not.- Returns:
- isInverted The state of the inversion true is inverted.
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disable
void disable()Disable the speed controller. -
stopMotor
void stopMotor()Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.
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