Motor

A wrapper for TalonFX motors to add better motor management and position handling.

import com.btwrobotics.WhatTime.frc.MotorManagers.Motor;

Constructor

public Motor(
    TalonFX motor, 
    String canbus,
    boolean inverted
)

or

public Motor(
    int deviceId, 
    String canbus, 
    boolean inverted
)

Methods

of(TalonFX motor, boolean inverted) - Creates a Motor object from an existing TalonFX object.

setInverted(boolean inverted) - Sets the inversion status for the Motor object

Note

Position management allows controlling the position of the motor based on an internal or external encoder value. The motor will move to the position and hold in the correct spot.

setFree(boolean free) - Sets the free behaviour of the motor. If false, the motor will use position management with defined values. If true, the motor will spin freely (for applications like flywheels).

setMinValue(double minValue) - Sets the minimum limit for position management.

setMaxValue(double maxValue) - Sets the maximum limit for position management.

setRange(double minValue, double maxValue) - Sets the minimum and maximum limits for position management.

setMinSpeed(double minSpeed) - Sets the minimum speed of the motor. A value from -1.0 to 1.0.

setMotorSpeed(double motorSpeed) - Sets the speed of the motor. A value from -1.0 to 1.0.

setHoldSpeed(double holdSpeed) - Sets the hold speed of the motor for position management. The minimum speed before the mechanism starts to slip.

setThreshold(double threshold) - The threshold where the motor will stop running for position management.

setPositionSupplier(DoubleSupplier positionSupplier) - Sets a supplier from the encoder to tell the current position of the motor for position management.

toggleEnabled() - Toggles whether running the motor is enabled.

toggleEnabled(Boolean enabled) - Sets the motor’s enabled state.

drive(boolean reverse) - Runs the motor in free mode with speed of setMotorSpeed().

drive(double speed) -

goTo(double target) -

setTarget(double target) -

setNeutralMode(NeutralModeValue neutralModeValue) -

brakelessReset(double durationSeconds) -