Class CTREDevices

java.lang.Object

swervelib.core.parser.deserializer.reflections.CTREDevices

public class CTREDevices
extends Object

Reflection class for TalonFX and TalonFXSs and other devices from CTRE.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	CTREDevices.MotorControllerType	Motor controller types.

Constructor Summary

Constructors

Constructor	Description
CTREDevices()

Method Summary

Modifier and Type	Method	Description
static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object>	getAbsoluteEncoder(int canid, String canbus, boolean inverted)	Get the CANcoder angle.
static org.wpilib.util.Pair<Supplier<org.wpilib.math.geometry.Rotation3d>, Object>	getGyro(int canid, String canbus)	Get the gyroscope attitude supplier and gyroscope object.
static SmartMotorController	getMotorController(int canid, String canbus, SmartMotorControllerConfig config, org.wpilib.math.system.DCMotor motor, String motorControllerType)	Get the CTREDevices.MotorControllerType as a SmartMotorController.

Methods inherited from class Object

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

Constructor Details

CTREDevices

public CTREDevices()

Method Details

getMotorController

public static SmartMotorController getMotorController(int canid,
 String canbus,
 SmartMotorControllerConfig config,
 org.wpilib.math.system.DCMotor motor,
 String motorControllerType)

Get the CTREDevices.MotorControllerType as a SmartMotorController.

Parameters:

canid - CAN ID of the CTREDevices.MotorControllerType

canbus - CAN bus of the CTREDevices.MotorControllerType, see CANBuses

config - SmartMotorControllerConfig to apply to the SmartMotorController

motor - DCMotor to use with the SmartMotorController

motorControllerType - Motor controller type.

Returns:

SmartMotorController

getGyro

public static org.wpilib.util.Pair<Supplier<org.wpilib.math.geometry.Rotation3d>, Object> getGyro(int canid,
 String canbus)

Get the gyroscope attitude supplier and gyroscope object.

Parameters:

canid - CAN ID of the gyroscope.

canbus - CAN bus of the gyroscope, see CANBuses

Returns:

Pair of the attitude Supplier and the gyroscope Object

getAbsoluteEncoder

public static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object> getAbsoluteEncoder(int canid,
 String canbus,
 boolean inverted)

Get the CANcoder angle.

Parameters:

canid - CAN ID of the encoder.

canbus - CAN bus of the encoder, see CANBuses

inverted - Inverted encoder readings.

Returns:

Supplier of Angle and CANcoder