io.github.thunderbots.lightning.hardware

Class MotorSet

java.lang.Object

io.github.thunderbots.lightning.hardware.MotorSet

public class MotorSet
extends java.lang.Object

A MotorSet is a collection of motors that should move in unison. The most common use for this functionality is in a drive system, because all the motors of a drive system move together.

It is not required that all of the motors in a motor set move exactly in usison. In some cases, this would be catastrophic. In the case of a drive system, the robot would only be able to spin clockwise or counterclockwise. Instead, a motor set comprises motors that should be controlled together, even if they should be given different individual powers.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
private Motor[]	motors The array of motors that this MotorSet comprises.

Constructor Summary

Constructors

Constructor and Description
MotorSet(Motor[] motors) Constructs a new MotorSet using the given motor array.
MotorSet(java.lang.String[] names) Constructs a new MotorSet using the motors with the given names.

Method Summary

Modifier and Type	Method and Description
int	getAverageEncoderValue() Gets the average encoder reading for all the motors in this motor set.
double	getAveragePower() Gets the average power of all the motors in this motor set.
Motor[]	getMotorArray() Gets the array of motors that this MotorSet comprises.
void	setMotorPower(double power) Sets the power of all the motors in this set to the given power.
void	setMotorPowers(double[] powers) Sets the power of the motors in this motor set from the corresponding power values in the given double array.
void	stopAllMotors() Stops all the motors in this motor set

Methods inherited from class java.lang.Object

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

Field Detail

motors

private Motor[] motors

The array of motors that this MotorSet comprises.

Constructor Detail

MotorSet

public MotorSet(java.lang.String[] names)

Constructs a new MotorSet using the motors with the given names.

Parameters:

names - the names of all the motors to use in this motor set.

MotorSet

public MotorSet(Motor[] motors)

Constructs a new MotorSet using the given motor array.

Parameters:

motors - an array of motors to use in this motor set.

Method Detail

getMotorArray

public Motor[] getMotorArray()

Gets the array of motors that this MotorSet comprises.

Returns:

an array of motors.

setMotorPower

public void setMotorPower(double power)

Sets the power of all the motors in this set to the given power.

Parameters:

power - the power to send to all the motors in this motor set.

setMotorPowers

public void setMotorPowers(double[] powers)

Sets the power of the motors in this motor set from the corresponding power values in the given double array. For example, the motor at motors[n] will be assigned the power value at powers[n]. If the lengths of motors and powers are mismatched, then all the available pairs will be matched, and the extra values in either array will be discarded.

Parameters:

powers - the power values to assign to the corresponding motors.

stopAllMotors

public void stopAllMotors()

Stops all the motors in this motor set

getAveragePower

public double getAveragePower()

Gets the average power of all the motors in this motor set.

Returns:

the average power of the motors in this set.

getAverageEncoderValue

public int getAverageEncoderValue()

Gets the average encoder reading for all the motors in this motor set.

Returns:

the average encoder reading for the motors in this set.