edu.wpi.first.wpilibj

Class SpeedControllerGroup

java.lang.Object

edu.wpi.first.wpilibj.SpeedControllerGroup

All Implemented Interfaces:

PIDOutput, SpeedController

public class SpeedControllerGroup
extends java.lang.Object
implements SpeedController

Allows multiple SpeedController objects to be linked together.

Constructor Summary

Constructors

Constructor and Description
SpeedControllerGroup(SpeedController speedController, SpeedController... speedControllers) Create a new SpeedControllerGroup with the provided SpeedControllers.

Method Summary

Modifier and Type	Method and 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	pidWrite(double output) Set the output to the value calculated by PIDController.
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.
void	stopMotor() Stops motor movement.

Methods inherited from class java.lang.Object

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

Constructor Detail

SpeedControllerGroup

public SpeedControllerGroup(SpeedController speedController,
                            SpeedController... speedControllers)

Create a new SpeedControllerGroup with the provided SpeedControllers.

Parameters:

speedControllers - The SpeedControllers to add

Method Detail

set

public void set(double speed)

Description copied from interface: SpeedController

Common interface for setting the speed of a speed controller.

Specified by:

set in interface SpeedController

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0.

get

public double get()

Description copied from interface: SpeedController

Common interface for getting the current set speed of a speed controller.

Specified by:

get in interface SpeedController

Returns:

The current set speed. Value is between -1.0 and 1.0.

setInverted

public void setInverted(boolean isInverted)

Description copied from interface: SpeedController

Common interface for inverting direction of a speed controller.

Specified by:

setInverted in interface SpeedController

Parameters:

isInverted - The state of inversion true is inverted.

getInverted

public boolean getInverted()

Description copied from interface: SpeedController

Common interface for returning if a speed controller is in the inverted state or not.

Specified by:

getInverted in interface SpeedController

Returns:

isInverted The state of the inversion true is inverted.

disable

public void disable()

Description copied from interface: SpeedController

Disable the speed controller.

Specified by:

disable in interface SpeedController

stopMotor

public void stopMotor()

Description copied from interface: SpeedController

Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.

Specified by:

stopMotor in interface SpeedController

pidWrite

public void pidWrite(double output)

Description copied from interface: PIDOutput

Set the output to the value calculated by PIDController.

Specified by:

pidWrite in interface PIDOutput

Parameters:

output - the value calculated by PIDController