Package swervelib.parser.deserializer.reflections

Class ThriftyBotDevices

java.lang.Object

swervelib.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.AbsoluteEncoderType	Absolute encoder types.
static enum	ThriftyBotDevices.MotorControllerType	Motor controller types.

Constructor Summary

Constructors

Constructor	Description
ThriftyBotDevices()

Method Summary

Modifier and Type	Method	Description
static Pair<Supplier<Angle>,Object>	getAbsoluteEncoder(int canid, String canbus, boolean inverted)	Get the ThriftyEncoder angle.
static Pair<Supplier<Angle>,Object>	getAttachedAbsoluteEncoder(String attachType, Object motorController, boolean inverted)	Get the attached absolute encoder.
static yams.motorcontrollers.SmartMotorController	getMotorController(int canid, String canbus, yams.motorcontrollers.SmartMotorControllerConfig config, DCMotor motor, String motorControllerType)	Get the ThriftyNova as a SmartMotorController.

Methods inherited from class java.lang.Object

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

Constructor Details

ThriftyBotDevices

public ThriftyBotDevices()

Method Details

getMotorController

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

Get the ThriftyNova as a SmartMotorController.

Parameters:

canid - CAN ID of the ThriftyNova

canbus - CAN bus name of the ThriftyNova

config - SmartMotorControllerConfig to apply to the SmartMotorController

motor - DCMotor to use with the SmartMotorController

motorControllerType - Motor controller type.

Returns:

SmartMotorController

getAbsoluteEncoder

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

Get the ThriftyEncoder angle.

Parameters:

canid - CAN ID of the encoder.

canbus - CAN bus name of the encoder.

inverted - Inversion of the encoder.

Returns:

Supplier of Angle and ThriftyEncoder

getAttachedAbsoluteEncoder

public static Pair<Supplier<Angle>,Object> getAttachedAbsoluteEncoder(String attachType,
 Object motorController,
 boolean inverted)

Get the attached absolute encoder.

Parameters:

attachType - Absolute encoder type. Only DutyCycle and analog inputs are supported.

motorController - Spark motor controller to get the absolute encoder from.

inverted - Inverted absolute encoder readings.

Returns:

Pair of Supplier and DutyCycleEncoder Object