com.explodingbacon.bcnlib.actuators

Class MotorGroup

java.lang.Object

com.explodingbacon.bcnlib.actuators.MotorGroup

All Implemented Interfaces:

edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.SpeedController

public class MotorGroup
extends java.lang.Object
implements edu.wpi.first.wpilibj.SpeedController

A class that lets you group together motors and mass-set their speeds. Specific motors can also be inverted.

Constructor Summary

Constructors

Constructor and Description
MotorGroup() Creates a MotorGroup.
MotorGroup(edu.wpi.first.wpilibj.SpeedController... motorArray) Creates a MotorGroup that consists of motorArray's Motors.

Method Summary

Modifier and Type	Method and Description
MotorGroup	addMotors(edu.wpi.first.wpilibj.SpeedController... moreMotors) Adds Motors to this MotorGroup.
void	clearMotors() Clears the list of Motors.
void	disable()
void	forEach(java.util.function.Consumer<edu.wpi.first.wpilibj.SpeedController> c) Calls code on each Motor in this MotorGroup.
double	get()
boolean	getInverted()
int	getMotorCount() Gets how many motors are in this MotorGroup.
java.util.List<edu.wpi.first.wpilibj.SpeedController>	getMotors() Gets all the motors in this MotorGroup.
boolean	isLoggingChanges() Checks if this MotorGroup is logging changes in power.
void	pidWrite(double v)
void	set(double d)
void	setInverted(boolean reversed)
MotorGroup	setInverts(java.lang.Boolean... newInverts) Sets the invert statuses of all the Motors in this MotorGroup.
void	setLoggingChanges(boolean b) Sets if this MotorGroup should be logging changes in power.
void	stopMotor()
void	testEach(double power, double timeOn) Tests each Motor in this MotorGroup.
void	testEachWait(double power, double timeOn) Tests each Motor in this MotorGroup, and freezes the Thread until the test is complete.

Methods inherited from class java.lang.Object

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

Constructor Detail

MotorGroup

public MotorGroup()

Creates a MotorGroup.

MotorGroup

public MotorGroup(edu.wpi.first.wpilibj.SpeedController... motorArray)

Creates a MotorGroup that consists of motorArray's Motors.

Parameters:

motorArray - The Motors to be a part of this MotorGroup.

Method Detail

addMotors

public MotorGroup addMotors(edu.wpi.first.wpilibj.SpeedController... moreMotors)

Adds Motors to this MotorGroup.

Parameters:

moreMotors - The Motors to be added.

Returns:

This MotorGroup.

clearMotors

public void clearMotors()

Clears the list of Motors.

setInverts

public MotorGroup setInverts(java.lang.Boolean... newInverts)

Sets the invert statuses of all the Motors in this MotorGroup.

Parameters:

newInverts - All the new invert statuses. Must be the same length as the motor list.

Returns:

This MotorGroup.

forEach

public void forEach(java.util.function.Consumer<edu.wpi.first.wpilibj.SpeedController> c)

Calls code on each Motor in this MotorGroup.

Parameters:

c - The code to call.

testEach

public void testEach(double power,
                     double timeOn)

Tests each Motor in this MotorGroup.

Parameters:

power - The speed the Motor will run at while being tested.

timeOn - How long the Motor will be on while being tested.

testEachWait

public void testEachWait(double power,
                         double timeOn)

Tests each Motor in this MotorGroup, and freezes the Thread until the test is complete.

Parameters:

power - The speed the Motor will run at while being tested.

timeOn - How long the Motor will be on while being tested.

isLoggingChanges

public boolean isLoggingChanges()

Checks if this MotorGroup is logging changes in power.

Returns:

If this MotorGroup is logging changes in power.

setLoggingChanges

public void setLoggingChanges(boolean b)

Sets if this MotorGroup should be logging changes in power.

Parameters:

b - If this MotorGroup is logging changes in power.

getMotors

public java.util.List<edu.wpi.first.wpilibj.SpeedController> getMotors()

Gets all the motors in this MotorGroup.

Returns:

All the motors in this MotorGroup.

getMotorCount

public int getMotorCount()

Gets how many motors are in this MotorGroup.

Returns:

How many motors are in this MotorGroup.

set

public void set(double d)

Specified by:

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

get

public double get()

Specified by:

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

setInverted

public void setInverted(boolean reversed)

Specified by:

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

getInverted

public boolean getInverted()

Specified by:

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

disable

public void disable()

Specified by:

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

stopMotor

public void stopMotor()

Specified by:

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

pidWrite

public void pidWrite(double v)

Specified by:

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