Package com.marswars.mechanisms

Class MotorConfig

java.lang.Object

com.marswars.mechanisms.MotorConfig

public class MotorConfig
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	MotorConfig.TalonMotorType

Field Summary

Fields

Modifier and Type	Field	Description
int	can_id
String	canbus_name
protected final ConstantsLoader	loader
MotorConfig.TalonMotorType	motor_type

Constructor Summary

Constructors

Constructor	Description
MotorConfig()
MotorConfig(MotorConfig config)

Method Summary

Modifier and Type	Method	Description
void	apply(TalonFXConfiguration fxConfig)	Applies a TalonFXConfiguration to this motor config.
void	apply(TalonFXSConfiguration fxsConfig)	Applies a TalonFXSConfiguration to this motor config.
TalonFXConfiguration	getAsFXConfig()	Gets the config as TalonFXConfiguration.
TalonFXSConfiguration	getAsFXSConfig()	Gets the config as TalonFXSConfiguration.
boolean	isFXS()	Returns true if this motor uses TalonFXS configuration (MINION, NEO_550)
void	loadFromConfig(String... base_steps)

Methods inherited from class java.lang.Object

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

Field Details

loader

protected final ConstantsLoader loader

canbus_name

public String canbus_name

can_id

public int can_id

motor_type

public MotorConfig.TalonMotorType motor_type

Constructor Details

MotorConfig

public MotorConfig(MotorConfig config)

MotorConfig

public MotorConfig()

Method Details

isFXS

public boolean isFXS()

Returns true if this motor uses TalonFXS configuration (MINION, NEO_550)

apply

public void apply(TalonFXConfiguration fxConfig)

Applies a TalonFXConfiguration to this motor config. Throws exception if motor uses FXS config.

Parameters:

fxConfig - The TalonFXConfiguration to apply

apply

public void apply(TalonFXSConfiguration fxsConfig)

Applies a TalonFXSConfiguration to this motor config. Throws exception if motor uses FX config.

Parameters:

fxsConfig - The TalonFXSConfiguration to apply

getAsFXConfig

public TalonFXConfiguration getAsFXConfig()

Gets the config as TalonFXConfiguration. Throws exception if motor uses FXS config. If config is null, creates a default TalonFXConfiguration.

getAsFXSConfig

public TalonFXSConfiguration getAsFXSConfig()

Gets the config as TalonFXSConfiguration. Throws exception if motor uses FX config. If config is null, creates a default TalonFXSConfiguration.

loadFromConfig

public void loadFromConfig(String... base_steps)