Package org.team1540.rooster.drive.pipeline

Class CTREOutput

java.lang.Object

org.team1540.rooster.drive.pipeline.CTREOutput

All Implemented Interfaces:

Consumer<TankDriveData>, Output<TankDriveData>

public class CTREOutput
extends Object
implements Output<TankDriveData>

Output to pass drive commands to Talon SRX and Victor SPX motor controllers. For output details, see the method documentation for accept().

Constructor Summary

Constructors

Constructor	Description
CTREOutput(@NotNull com.ctre.phoenix.motorcontrol.IMotorController left, @NotNull com.ctre.phoenix.motorcontrol.IMotorController right)	Creates a new CTREOutput.
CTREOutput(@NotNull com.ctre.phoenix.motorcontrol.IMotorController left, @NotNull com.ctre.phoenix.motorcontrol.IMotorController right, boolean closedLoop)	Creates a new CTREOutput.

Method Summary

Modifier and Type	Method	Description
void	accept(@NotNull TankDriveData tankDriveData)	Command previously set motors according to the provided TankDriveData.
boolean	isClosedLoop()	Returns whether this CTREOutput commands its controllers in closed-loop mode if possible.
void	setClosedLoop(boolean closedLoop)	Sets whether this CTREOutput commands its controllers in closed-loop mode if possible.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.util.function.Consumer

andThen

Methods inherited from interface org.team1540.rooster.functional.Output

after, after

Constructor Detail

CTREOutput

public CTREOutput(@NotNull
                  @NotNull com.ctre.phoenix.motorcontrol.IMotorController left,
                  @NotNull
                  @NotNull com.ctre.phoenix.motorcontrol.IMotorController right)

Creates a new CTREOutput. This is equivalent to calling CTREOutput(IMotorController, IMotorController, boolean) with closedLoop equal to true.

Parameters:

left - The left-side motor controller.

right - The right-side motor controller.

CTREOutput

public CTREOutput(@NotNull
                  @NotNull com.ctre.phoenix.motorcontrol.IMotorController left,
                  @NotNull
                  @NotNull com.ctre.phoenix.motorcontrol.IMotorController right,
                  boolean closedLoop)

Creates a new CTREOutput.

Parameters:

left - The left-side motor controller.

right - The right-side motor controller.

closedLoop - Whether to command the controllers in closed-loop mode if possible. (See isClosedLoop()/setClosedLoop()).

Method Detail

accept

@Contract(pure=true)
public void accept(@NotNull
                   @NotNull TankDriveData tankDriveData)

Command previously set motors according to the provided TankDriveData.

If closed-loop is enabled (isClosedLoop() returns true), when the provided TankDriveData has non-empty position or velocity fields, that setpoint will be sent to the motor controllers as a closed-loop setpoint, with any additional feed-forward sent via throttle bump. (Position has priority over velocity when deciding which setpoint to send.) If it is false, or if the provided TankDriveData has empty position and velocity fields, DriveData.additionalFeedForward (or 0 if it is not present) will be passed in as the motor throttle from -1 to 1 inclusive.

Specified by:

accept in interface Consumer<TankDriveData>

Parameters:

tankDriveData - The data to accept.

isClosedLoop

@Contract(pure=true)
public boolean isClosedLoop()

Returns whether this CTREOutput commands its controllers in closed-loop mode if possible. If true, when accept() is called and the provided TankDriveData has non-empty position or velocity fields, that setpoint will be sent to the motor controllers as a closed-loop setpoint, with any additional feed-forward sent via throttle bump (position has priority over velocity when deciding which setpoint to send.) If false, or if the provided TankDriveData has empty position and velocity fields, DriveData.additionalFeedForward (or 0 if it is not present) will be passed in as the motor throttle from -1 to 1 inclusive.

Returns:

true if closed-loop control will be used, false otherwise.

setClosedLoop

public void setClosedLoop(boolean closedLoop)

Sets whether this CTREOutput commands its controllers in closed-loop mode if possible. If closedLoop is true, when accept() is called and the provided TankDriveData has non-empty position or velocity fields, that setpoint will be sent to the motor controllers as a closed-loop setpoint, with any additional feed-forward sent via throttle bump. (Position has priority over velocity when deciding which setpoint to send.) If it is false, or if the provided TankDriveData has empty position and velocity fields, DriveData.additionalFeedForward (or 0 if it is not present) will be passed in as the motor throttle from -1 to 1 inclusive.

Parameters:

closedLoop - Whether to use closed-loop, if possible.