robot2024/frc.team449.system.motor/WrappedMotor

WrappedMotor

class WrappedMotor(motor: MotorController, val encoder: Encoder, val getDutyCycle: DoubleSupplier? = null, val appliedOutput: DoubleSupplier? = null, val busVoltage: DoubleSupplier? = null, val outputCurrent: DoubleSupplier? = null) : MotorController

Our own wrapper grouping the motor controller and encoder for a motor

Constructors

constructor(motor: MotorController, encoder: Encoder, getDutyCycle: DoubleSupplier? = null, appliedOutput: DoubleSupplier? = null, busVoltage: DoubleSupplier? = null, outputCurrent: DoubleSupplier? = null)

Functions

open override fun disable()

open override fun get(): Double

open override fun getInverted(): Boolean

open override fun set(output: Double)

open override fun setInverted(p0: Boolean)

open override fun setVoltage(volts: Double)

open override fun stopMotor()

Properties

val appliedOutput: DoubleSupplier? = null

val busVoltage: DoubleSupplier? = null

val encoder: Encoder

val getDutyCycle: DoubleSupplier? = null

var lastVoltage: Double

The last set voltage for this motor (through setVoltage or set)

val outputCurrent: DoubleSupplier? = null

val position: Double

Position in meters or whatever unit you set

val velocity: Double

Velocity in meters per second or whatever unit you set