Package com.thegongoliers.output.actuators

Class GSpeedController

java.lang.Object

com.thegongoliers.output.actuators.GSpeedController

All Implemented Interfaces:

edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.SpeedController

public class GSpeedController
extends java.lang.Object
implements edu.wpi.first.wpilibj.SpeedController

Constructor Summary

Constructors

Constructor	Description
GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController, DistanceSensor distanceSensor, VelocitySensor velocitySensor, com.kylecorry.pid.PID distancePID, com.kylecorry.pid.PID velocityPID)	A speed controller with added functionality
GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController, edu.wpi.first.wpilibj.Encoder encoder, com.kylecorry.pid.PID distancePID, com.kylecorry.pid.PID velocityPID)	A speed controller with added functionality
GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController, edu.wpi.first.wpilibj.interfaces.Potentiometer potentiometer, com.kylecorry.pid.PID distancePID)	A speed controller with added functionality Potentiometers can not use velocity control!

Method Summary

Modifier and Type	Method	Description
void	disable()
double	get()
double	getDistance()
boolean	getInverted()
double	getVelocity()
void	pidWrite(double output)
void	set(double speed)
void	setDistance(double distance)
void	setInverted(boolean isInverted)
void	setVelocity(double velocity)
void	stopMotor()

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.SpeedController

setVoltage

Constructor Detail

GSpeedController

public GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController,
                        edu.wpi.first.wpilibj.Encoder encoder,
                        com.kylecorry.pid.PID distancePID,
                        com.kylecorry.pid.PID velocityPID)

A speed controller with added functionality

Parameters:

speedController - the underlying speed controller

encoder - the encoder which senses the movement of the motor controlled by the speed controller

distancePID - the PID for setting a distance (ex. 0.1 when distance is in feet)

velocityPID - the PID for setting a velocity (ex. 1 / max velocity)

GSpeedController

public GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController,
                        edu.wpi.first.wpilibj.interfaces.Potentiometer potentiometer,
                        com.kylecorry.pid.PID distancePID)

A speed controller with added functionality Potentiometers can not use velocity control!

Parameters:

speedController - the underlying speed controller

potentiometer - the potentiometer which senses the movement of the motor controlled by the speed controller

distancePID - the PID for setting a distance

GSpeedController

public GSpeedController(edu.wpi.first.wpilibj.SpeedController speedController,
                        DistanceSensor distanceSensor,
                        VelocitySensor velocitySensor,
                        com.kylecorry.pid.PID distancePID,
                        com.kylecorry.pid.PID velocityPID)

A speed controller with added functionality

Parameters:

speedController - the underlying speed controller

distanceSensor -

velocitySensor -

distancePID - the PID for setting a distance

velocityPID - the PID for setting a velocity

Method Detail

pidWrite

public void pidWrite(double output)

Specified by:

pidWrite in interface edu.wpi.first.wpilibj.PIDOutput

set

public void set(double speed)

Specified by:

set in interface edu.wpi.first.wpilibj.SpeedController

setVelocity

public void setVelocity(double velocity)

Parameters:

velocity - the velocity of the motor in encoder units / second

getVelocity

public double getVelocity()

Returns:

the velocity of the motor in encoder units / second

setDistance

public void setDistance(double distance)

Parameters:

distance - the distance of the motor in encoder units

getDistance

public double getDistance()

Returns:

the distance of the motor in encoder units

get

public double get()

Specified by:

get in interface edu.wpi.first.wpilibj.SpeedController

setInverted

public void setInverted(boolean isInverted)

Specified by:

setInverted in interface edu.wpi.first.wpilibj.SpeedController

getInverted

public boolean getInverted()

Specified by:

getInverted in interface edu.wpi.first.wpilibj.SpeedController

disable

public void disable()

Specified by:

disable in interface edu.wpi.first.wpilibj.SpeedController

stopMotor

public void stopMotor()

Specified by:

stopMotor in interface edu.wpi.first.wpilibj.SpeedController