BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib/Ramping/DcMotor

DcMotor

open class DcMotor : DcMotorImplEx, Ramping

Wrapper class for a DcMotor where all motor speed is passed through a configurable SmoothDamp function. This class is designed to be downcasted to the SDK DcMotor type.

Author

Lucas Bubner, 2024

Since

3.0.0

Constructors

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constructor(@NonNull motor: DcMotor)
Create a new Ramping DcMotor object, wrapping a DcMotor object and returning a new object that can be used in place of the original.
constructor(@NonNull motor: DcMotor, @NonNull smoothTime: Measure<Time>, maxDelta: Double)
Create a new Ramping DcMotor object, wrapping a DcMotor object and returning a new object that can be used in place of the original.

Inherited properties

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protected open var controller: DcMotorController
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protected open var direction: DcMotorSimple.Direction
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protected open var motorType: MotorConfigurationType
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protected open var portNumber: Int
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Functions

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@NonNull
open fun setMaxRampingDelta(maxDelta: Double): Ramping.DcMotor
Set the maximum change in power level per second.
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open fun setPower(power: Double)
Set the power level of the motor, which will be passed through a SmoothDamp function defined by the motor's ramping parameters.
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open fun setPowerInstant(power: Double)
Instantly set the power level of the motor, bypassing the SmoothDamp function.
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@NonNull
open fun setRampingEnabled(enabled: Boolean): Ramping.DcMotor
Set whether the ramping function is enabled.
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@NonNull
open fun setRampingParameters(@NonNull smoothTime: Measure<Time>, maxDelta: Double): Ramping.DcMotor
Set the ramping parameters of the motor.
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@NonNull
open fun setRampingTime(@NonNull smoothTime: Measure<Time>): Ramping.DcMotor
Set the time it takes for the motor to reach the target power level.
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open fun stop()
Instantly stop the motor, bypassing the SmoothDamp function.

Inherited functions

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protected open fun adjustAngularRate(angularRate: Double): Double
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protected open fun adjustPosition(position: Int): Int
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protected open fun adjustPower(power: Double): Double
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open fun close()
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open fun getController(): DcMotorController
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open fun getCurrent(unit: CurrentUnit): Double
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open fun getCurrentAlert(unit: CurrentUnit): Double
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open fun getCurrentPosition(): Int
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open fun getDeviceName(): String
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open fun getDirection(): DcMotorSimple.Direction
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open fun getManufacturer(): HardwareDevice.Manufacturer
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open fun getMode(): DcMotor.RunMode
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open fun getMotorType(): MotorConfigurationType
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protected open fun getOperationalDirection(): DcMotorSimple.Direction
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open fun getPIDCoefficients(mode: DcMotor.RunMode): PIDCoefficients
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open fun getPIDFCoefficients(mode: DcMotor.RunMode): PIDFCoefficients
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open fun getPortNumber(): Int
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open fun getPower(): Double
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open fun getPowerFloat(): Boolean
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open fun getTargetPosition(): Int
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open fun getVelocity(): Double
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open fun getVersion(): Int
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open fun getZeroPowerBehavior(): DcMotor.ZeroPowerBehavior
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protected open fun internalSetMode(mode: DcMotor.RunMode)
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protected open fun internalSetPower(power: Double)
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protected open fun internalSetTargetPosition(position: Int)
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open fun isBusy(): Boolean
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open fun isMotorEnabled(): Boolean
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open fun isOverCurrent(): Boolean
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open fun setCurrentAlert(current: Double, unit: CurrentUnit)
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open fun setDirection(direction: DcMotorSimple.Direction)
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open fun setMode(mode: DcMotor.RunMode)
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open fun setMotorDisable()
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open fun setMotorEnable()
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open fun setMotorType(motorType: MotorConfigurationType)
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open fun setPIDCoefficients(mode: DcMotor.RunMode, pidCoefficients: PIDCoefficients)
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open fun setPIDFCoefficients(mode: DcMotor.RunMode, pidfCoefficients: PIDFCoefficients)
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open fun setPowerFloat()
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open fun setTargetPosition(position: Int)
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open fun setVelocity(angularRate: Double)
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open fun setZeroPowerBehavior(zeroPowerBehavior: DcMotor.ZeroPowerBehavior)