Package frc.lib5k.components.motors

Class SparkCollection

java.lang.Object

edu.wpi.first.wpilibj.SpeedControllerGroup

frc.lib5k.components.motors.SparkCollection

All Implemented Interfaces:

edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj.SpeedController, IMotorCollection, IRampRateController, IVoltageOutputController, Loggable, java.lang.AutoCloseable

public class SparkCollection
extends edu.wpi.first.wpilibj.SpeedControllerGroup
implements IMotorCollection, IVoltageOutputController, IRampRateController, Loggable

Collection of multiple Spark controllers that wraps a SpeedControllerGroup

Constructor Summary

Constructors

Constructor	Description
SparkCollection(edu.wpi.first.wpilibj.Spark master, edu.wpi.first.wpilibj.Spark... slaves)

Method Summary

Modifier and Type	Method	Description
void	enableRampRateLimiting(boolean enabled)	Set if ramp rate limiting should be enabled for the controller
void	forEachSlave(java.util.function.Consumer<edu.wpi.first.wpilibj.Spark> consumer)	For-Each over each slave controller
double	getEstimatedVoltage()	Estimate controller output voltage from speed
double	getRampRate()	Get the configured ramp rate
void	logStatus()	Log component status
void	pidWrite(double output)
void	set(double speed)
void	setBuffer(double speed)	Only set on new data
void	setInverted(boolean isInverted)
void	setRampRate(double secondsToFull)	Set the controller ramp rate.
void	setVoltage(double volts)	Set desired controller output in volts.
void	updateTelemetry()	Push telemetry data to NetworkTables

Methods inherited from class edu.wpi.first.wpilibj.SpeedControllerGroup

close, disable, get, getInverted, initSendable, stopMotor

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, getName, getSubsystem, setName, setName, setName, setName, setSubsystem

Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

disable, get, getInverted, stopMotor

Constructor Detail

SparkCollection

public SparkCollection(edu.wpi.first.wpilibj.Spark master,
                       edu.wpi.first.wpilibj.Spark... slaves)

Method Detail

set

public void set(double speed)

Specified by:

set in interface edu.wpi.first.wpilibj.SpeedController

Overrides:

set in class edu.wpi.first.wpilibj.SpeedControllerGroup

setBuffer

public void setBuffer(double speed)

Description copied from interface: IMotorCollection

Only set on new data

Specified by:

setBuffer in interface IMotorCollection

Parameters:

speed - Motor speed

setInverted

public void setInverted(boolean isInverted)

Specified by:

setInverted in interface edu.wpi.first.wpilibj.SpeedController

Overrides:

setInverted in class edu.wpi.first.wpilibj.SpeedControllerGroup

pidWrite

public void pidWrite(double output)

Specified by:

pidWrite in interface edu.wpi.first.wpilibj.PIDOutput

Overrides:

pidWrite in class edu.wpi.first.wpilibj.SpeedControllerGroup

setVoltage

public void setVoltage(double volts)

Description copied from interface: IVoltageOutputController

Set desired controller output in volts. Negative voltage will result in reverse output

Specified by:

setVoltage in interface IVoltageOutputController

Specified by:

setVoltage in interface edu.wpi.first.wpilibj.SpeedController

Parameters:

volts - Controller output

getEstimatedVoltage

public double getEstimatedVoltage()

Description copied from interface: IVoltageOutputController

Estimate controller output voltage from speed

Specified by:

getEstimatedVoltage in interface IVoltageOutputController

Returns:

Controller output voltage

setRampRate

public void setRampRate(double secondsToFull)

Description copied from interface: IRampRateController

Set the controller ramp rate.

Specified by:

setRampRate in interface IRampRateController

Parameters:

secondsToFull - Minimum desired time to go from neutral to full output.

getRampRate

public double getRampRate()

Description copied from interface: IRampRateController

Get the configured ramp rate

Specified by:

getRampRate in interface IRampRateController

Returns:

Configured rate in seconds

enableRampRateLimiting

public void enableRampRateLimiting(boolean enabled)

Description copied from interface: IRampRateController

Set if ramp rate limiting should be enabled for the controller

Specified by:

enableRampRateLimiting in interface IRampRateController

Parameters:

enabled - Should enable limiting?

forEachSlave

public void forEachSlave(java.util.function.Consumer<edu.wpi.first.wpilibj.Spark> consumer)

For-Each over each slave controller

Parameters:

consumer - Method to run

logStatus

public void logStatus()

Description copied from interface: Loggable

Log component status

Specified by:

logStatus in interface Loggable

updateTelemetry

public void updateTelemetry()

Description copied from interface: Loggable

Push telemetry data to NetworkTables

Specified by:

updateTelemetry in interface Loggable