Package frc.robot.motors

Interface LoggedMotor

All Known Implementing Classes:
SparkMaxWrapper, TalonFXWrapper
public interface LoggedMotor
An interface for any motor wrapper implementation for logging purposes.

  • Method Summary

    Modifier and Type
    Method
    Description
    String
    getIdentifier()
    Gets the unique identifier of a motor for logging purposes.
    double
    getLoggedCurrent()
    Gets the current of the motor in amperes.
    double
    getLoggedPosition()
    Gets the position of the motor in rotations.
    double
    getLoggedSetpoint()
    Gets the setpoint of the motor in range [-1, 1].
    double
    getLoggedVelocity()
    Gets the angular velocity of the motor in rotations per minute.
    double
    getLoggedVoltage()
    Gets the voltage of the motor in volts.
    default void
    init()
    Initializes the motor by adding it to the global motor list in MotorManager.
    default void
    updateSimState()
    Updates the motors every tick.

  • Method Details

    • updateSimState

      default void updateSimState()
      Updates the motors every tick.

    • init

      default void init()
      Initializes the motor by adding it to the global motor list in MotorManager.

    • getIdentifier

      String getIdentifier()
      Gets the unique identifier of a motor for logging purposes. This value is intended to be the CAN ID.
      Returns:
      the unique identifier for the motor

    • getLoggedPosition

      double getLoggedPosition()
      Gets the position of the motor in rotations.
      Returns:
      the position of the motor in rotations

    • getLoggedVelocity

      double getLoggedVelocity()
      Gets the angular velocity of the motor in rotations per minute.
      Returns:
      the angular velocity of the motor in rotations per minute

    • getLoggedSetpoint

      double getLoggedSetpoint()
      Gets the setpoint of the motor in range [-1, 1].
      Returns:
      the setpoint in range [-1, 1]

    • getLoggedVoltage

      double getLoggedVoltage()
      Gets the voltage of the motor in volts.
      Returns:
      the voltage of the motor

    • getLoggedCurrent

      double getLoggedCurrent()
      Gets the current of the motor in amperes.
      Returns:
      the current of the motor