Package swervelib.parser.deserializer.reflections

Class CTREDevices

java.lang.Object

swervelib.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 Pair<Supplier<Angle>,Object>	getAbsoluteEncoder(int canid, String canbus, boolean inverted)	Get the CANcoder angle.
static Pair<Supplier<Angle>,Object>	getGyroAngle(int canid, String canbus, SwerveDriveJson.GyroAxis axis, boolean inverted)	Get the gyroscope angle supplier and gyroscope object.
static yams.motorcontrollers.SmartMotorController	getMotorController(int canid, String canbus, yams.motorcontrollers.SmartMotorControllerConfig config, DCMotor motor, String motorControllerType)	Get the CTREDevices.MotorControllerType as a SmartMotorController.

Methods inherited from class java.lang.Object

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

Constructor Details

CTREDevices

public CTREDevices()

Method Details

getMotorController

public static yams.motorcontrollers.SmartMotorController getMotorController(int canid,
 String canbus,
 yams.motorcontrollers.SmartMotorControllerConfig config,
 DCMotor motor,
 String motorControllerType)

Get the CTREDevices.MotorControllerType as a SmartMotorController.

Parameters:

canid - CAN ID of the CTREDevices.MotorControllerType

canbus - CAN bus name of the CTREDevices.MotorControllerType

config - SmartMotorControllerConfig to apply to the SmartMotorController

motor - DCMotor to use with the SmartMotorController

motorControllerType - Motor controller type.

Returns:

SmartMotorController

getGyroAngle

public static Pair<Supplier<Angle>,Object> getGyroAngle(int canid,
 String canbus,
 SwerveDriveJson.GyroAxis axis,
 boolean inverted)

Get the gyroscope angle supplier and gyroscope object.

Parameters:

canid - CAN ID of the gyroscope.

canbus - CAN bus name of the gyroscope.

axis - Gyro axis.

inverted - Inverted gyro readings.

Returns:

Pair of Supplier and Object

getAbsoluteEncoder

public static Pair<Supplier<Angle>,Object> getAbsoluteEncoder(int canid,
 String canbus,
 boolean inverted)

Get the CANcoder angle.

Parameters:

canid - CAN ID of the encoder.

canbus - CAN bus name of the encoder.

inverted - Inverted encoder readings.

Returns:

Supplier of Angle and CANcoder