Package io.github.frc5024.lib5k.hardware.ctre.motors

Class ExtendedVictorSPX

  • All Implemented Interfaces:
    com.ctre.phoenix.motorcontrol.IFollower, com.ctre.phoenix.motorcontrol.IMotorController, com.ctre.phoenix.signals.IInvertable, com.ctre.phoenix.signals.IOutputSignal, PIDOutput, Sendable, SpeedController
    public class ExtendedVictorSPX
extends com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX
    The ExtendedVictorSPX contains an extra feature from WPI_VictorSPX: - Small fixes for 2020 simulation voltage bugs in HALSIM

    • Field Summary

      Fields 
      Modifier and Type Field Description
      CTREConfig config  

      • Fields inherited from class com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX

        kDefaultSafetyExpiration

      • Fields inherited from class com.ctre.phoenix.motorcontrol.can.BaseMotorController

        m_handle

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double getMotorOutputVoltage()  
      ExtendedVictorSPX makeSlave​(int id)
      Make a slave of this controller
      void setVoltage​(double outputVolts)  

      • Methods inherited from class com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX

        addChild, disable, feed, free, get, getDescription, getExpiration, getInverted, getName, getSubsystem, initSendable, isAlive, isSafetyEnabled, pidWrite, set, set, set, set, setExpiration, setInverted, setName, setName, setName, setSafetyEnabled, setSubsystem, stopMotor

      • Methods inherited from class com.ctre.phoenix.motorcontrol.can.VictorSPX

        configAllSettings, configAllSettings, getAllConfigs, getAllConfigs, getPIDConfigs, getPIDConfigs

      • Methods inherited from class com.ctre.phoenix.motorcontrol.can.BaseMotorController

        baseConfigAllSettings, baseConfigurePID, baseGetAllConfigs, baseGetPIDConfigs, changeMotionControlFramePeriod, clearMotionProfileHasUnderrun, clearMotionProfileHasUnderrun, clearMotionProfileTrajectories, clearStickyFaults, clearStickyFaults, config_IntegralZone, config_IntegralZone, config_kD, config_kD, config_kF, config_kF, config_kI, config_kI, config_kP, config_kP, configAllowableClosedloopError, configAllowableClosedloopError, configAuxPIDPolarity, configAuxPIDPolarity, configClearPositionOnLimitF, configClearPositionOnLimitR, configClearPositionOnQuadIdx, configClosedLoopPeakOutput, configClosedLoopPeakOutput, configClosedLoopPeriod, configClosedLoopPeriod, configClosedloopRamp, configClosedloopRamp, configFactoryDefault, configFactoryDefault, configFeedbackNotContinuous, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardLimitSwitchSource, configForwardSoftLimitEnable, configForwardSoftLimitEnable, configForwardSoftLimitThreshold, configForwardSoftLimitThreshold, configGetCustomParam, configGetCustomParam, configGetParameter, configGetParameter, configGetParameter, configGetParameter, configLimitSwitchDisableNeutralOnLOS, configMaxIntegralAccumulator, configMaxIntegralAccumulator, configMotionAcceleration, configMotionAcceleration, configMotionCruiseVelocity, configMotionCruiseVelocity, configMotionProfileTrajectoryInterpolationEnable, configMotionProfileTrajectoryInterpolationEnable, configMotionProfileTrajectoryPeriod, configMotionProfileTrajectoryPeriod, configMotionSCurveStrength, configMotionSCurveStrength, configNeutralDeadband, configNeutralDeadband, configNominalOutputForward, configNominalOutputForward, configNominalOutputReverse, configNominalOutputReverse, configOpenloopRamp, configOpenloopRamp, configPeakOutputForward, configPeakOutputForward, configPeakOutputReverse, configPeakOutputReverse, configPulseWidthPeriod_EdgesPerRot, configPulseWidthPeriod_FilterWindowSz, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configRemoteSensorClosedLoopDisableNeutralOnLOS, configReverseLimitSwitchSource, configReverseLimitSwitchSource, configReverseLimitSwitchSource, configReverseSoftLimitEnable, configReverseSoftLimitEnable, configReverseSoftLimitThreshold, configReverseSoftLimitThreshold, configSelectedFeedbackCoefficient, configSelectedFeedbackCoefficient, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSelectedFeedbackSensor, configSensorTerm, configSensorTerm, configSensorTerm, configSensorTerm, configSetCustomParam, configSetCustomParam, configSetParameter, configSetParameter, configSetParameter, configSetParameter, configSoftLimitDisableNeutralOnLOS, configureFilter, configureFilter, configureFilter, configureSlot, configureSlot, configVelocityMeasurementPeriod, configVelocityMeasurementPeriod, configVelocityMeasurementWindow, configVelocityMeasurementWindow, configVoltageCompSaturation, configVoltageCompSaturation, configVoltageMeasurementFilter, configVoltageMeasurementFilter, DestroyObject, enableHeadingHold, enableVoltageCompensation, follow, follow, getActiveTrajectoryArbFeedFwd, getActiveTrajectoryArbFeedFwd, getActiveTrajectoryHeading, getActiveTrajectoryPosition, getActiveTrajectoryPosition, getActiveTrajectoryVelocity, getActiveTrajectoryVelocity, getBaseID, getBusVoltage, getClosedLoopError, getClosedLoopError, getClosedLoopTarget, getClosedLoopTarget, getControlMode, getDeviceID, getErrorDerivative, getErrorDerivative, getFaults, getFilterConfigs, getFilterConfigs, getFirmwareVersion, getHandle, getIntegralAccumulator, getIntegralAccumulator, getLastError, getMotionProfileStatus, getMotionProfileTopLevelBufferCount, getMotorOutputPercent, getOutputCurrent, getSelectedSensorPosition, getSelectedSensorPosition, getSelectedSensorVelocity, getSelectedSensorVelocity, getSlotConfigs, getSlotConfigs, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStatusFramePeriod, getStickyFaults, getTemperature, hasResetOccurred, isMotionProfileFinished, isMotionProfileTopLevelBufferFull, isVoltageCompensationEnabled, neutralOutput, overrideLimitSwitchesEnable, overrideSoftLimitsEnable, processMotionProfileBuffer, pushMotionProfileTrajectory, selectDemandType, selectProfileSlot, setControlFramePeriod, setControlFramePeriod, setIntegralAccumulator, setIntegralAccumulator, setInverted, setNeutralMode, setSelectedSensorPosition, setSelectedSensorPosition, setSensorPhase, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, startMotionProfile, valueUpdated

      • Methods inherited from class java.lang.Object

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

      • Methods inherited from interface com.ctre.phoenix.motorcontrol.IFollower

        follow, valueUpdated

      • Methods inherited from interface com.ctre.phoenix.motorcontrol.IMotorController

        changeMotionControlFramePeriod, clearMotionProfileHasUnderrun, clearMotionProfileTrajectories, clearStickyFaults, config_IntegralZone, config_kD, config_kF, config_kI, config_kP, configAllowableClosedloopError, configAuxPIDPolarity, configClosedLoopPeakOutput, configClosedLoopPeriod, configClosedloopRamp, configForwardLimitSwitchSource, configForwardSoftLimitEnable, configForwardSoftLimitThreshold, configGetCustomParam, configGetParameter, configGetParameter, configMaxIntegralAccumulator, configMotionAcceleration, configMotionCruiseVelocity, configMotionProfileTrajectoryPeriod, configMotionSCurveStrength, configNeutralDeadband, configNominalOutputForward, configNominalOutputReverse, configOpenloopRamp, configPeakOutputForward, configPeakOutputReverse, configRemoteFeedbackFilter, configRemoteFeedbackFilter, configReverseLimitSwitchSource, configReverseSoftLimitEnable, configReverseSoftLimitThreshold, configSelectedFeedbackCoefficient, configSelectedFeedbackSensor, configSensorTerm, configSetCustomParam, configSetParameter, configSetParameter, configVoltageCompSaturation, configVoltageMeasurementFilter, enableVoltageCompensation, getActiveTrajectoryHeading, getActiveTrajectoryPosition, getActiveTrajectoryVelocity, getBaseID, getBusVoltage, getClosedLoopError, getClosedLoopTarget, getControlMode, getDeviceID, getErrorDerivative, getFaults, getFirmwareVersion, getIntegralAccumulator, getLastError, getMotionProfileStatus, getMotionProfileTopLevelBufferCount, getMotorOutputPercent, getSelectedSensorPosition, getSelectedSensorVelocity, getStatusFramePeriod, getStickyFaults, getTemperature, hasResetOccurred, isMotionProfileTopLevelBufferFull, neutralOutput, overrideLimitSwitchesEnable, overrideSoftLimitsEnable, processMotionProfileBuffer, pushMotionProfileTrajectory, selectProfileSlot, setControlFramePeriod, setIntegralAccumulator, setNeutralMode, setSelectedSensorPosition, setSensorPhase, setStatusFramePeriod

    • Constructor Detail

      • ExtendedVictorSPX

        public ExtendedVictorSPX​(int id)
        Create an extended Victor SPX
        Parameters:
        id - CAN ID

      • ExtendedVictorSPX

        public ExtendedVictorSPX​(int id,
                         CTREConfig config)
        Create an extended Victor SPX
        Parameters:
        id - CAN ID
        config - configuration

    • Method Detail

      • getMotorOutputVoltage

        public double getMotorOutputVoltage()
        Specified by:
        getMotorOutputVoltage in interface com.ctre.phoenix.motorcontrol.IMotorController
        Overrides:
        getMotorOutputVoltage in class com.ctre.phoenix.motorcontrol.can.BaseMotorController

      • setVoltage

        public void setVoltage​(double outputVolts)
        Specified by:
        setVoltage in interface SpeedController
        Overrides:
        setVoltage in class com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX

      • makeSlave

        public ExtendedVictorSPX makeSlave​(int id)
        Make a slave of this controller
        Parameters:
        id - New controller CAN id
        Returns:
        Slave controller