Package frc.lib5k.components.motors

Class TalonHelper

  • public class TalonHelper
extends java.lang.Object

    • Constructor Summary

      Constructors 
      Constructor Description
      TalonHelper()  

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static void configCurrentLimit​(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX talon, int threshold, int hold, int duration, int timeout)
      Configure a WPI_TalonSRX current limiting

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • TalonHelper

        public TalonHelper()

    • Method Detail

      • configCurrentLimit

        public static void configCurrentLimit​(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX talon,
                                      int threshold,
                                      int hold,
                                      int duration,
                                      int timeout)
        Configure a WPI_TalonSRX current limiting
        Parameters:
        talon - Talon to configure
        threshold - Threshold to trigger limit
        hold - Amperage to hold the controller at while limiting
        duration - How long the value must pass the threshold to be limited
        timeout - CAN timeout (can be 0)