Class ThriftyBotDevices

java.lang.Object

swervelib.core.parser.deserializer.reflections.ThriftyBotDevices

public class ThriftyBotDevices
extends Object

Reflection class for SmartMotorControllers and other devices from ThriftyBot.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	ThriftyBotDevices.AbsoluteEncoder	Absolute encoder types on the Nova's data port, named after the encoder in the JSON <encoder>_attached type.
static enum	ThriftyBotDevices.MotorControllerType	Motor controller types.

Constructor Summary

Constructors

Constructor	Description
ThriftyBotDevices()

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 Thrifty CAN Encoder angle.
static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object>	getAttachedAbsoluteEncoder(String attachType, Object motorController, boolean inverted)	Get the absolute encoder attached to the Nova's data port.
static SmartMotorController	getMotorController(int canid, String canbus, SmartMotorControllerConfig config, org.wpilib.math.system.DCMotor motor, String motorControllerType)	Get the Nova as a SmartMotorController.

Methods inherited from class Object

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

Constructor Details

ThriftyBotDevices

public ThriftyBotDevices()

Method Details

getMotorController

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

Get the Nova as a SmartMotorController.

Parameters:

canid - CAN ID of the Nova

canbus - CAN bus number of the Nova, see CANBuses

config - SmartMotorControllerConfig to apply to the SmartMotorController

motor - DCMotor to use with the SmartMotorController

motorControllerType - Motor controller type.

Returns:

SmartMotorController

getAbsoluteEncoder

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

Get the Thrifty CAN Encoder angle.

Parameters:

canid - CAN ID of the encoder.

canbus - CAN bus number of the encoder, see CANBuses

inverted - Inversion of the encoder.

Returns:

Supplier of Angle and CanEncoder

getAttachedAbsoluteEncoder

public static org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object> getAttachedAbsoluteEncoder(String attachType,
 Object motorController,
 boolean inverted)

Get the absolute encoder attached to the Nova's data port.

Parameters:

attachType - Absolute encoder type, one of ThriftyBotDevices.AbsoluteEncoder.

motorController - Nova to get the absolute encoder from.

inverted - Inverted absolute encoder readings.

Returns:

Pair of Supplier and Motor.FeedbackSensorType.ABS, which is what NovaWrapper expects as its external encoder.