Package com.thethriftybot.devices

Class ThriftyNova.ThriftyNovaConfig

java.lang.Object
com.thethriftybot.devices.ThriftyNova.ThriftyNovaConfig
Enclosing class:
ThriftyNova
public static final class ThriftyNova.ThriftyNovaConfig extends Object
Configuration structure for ThriftyNova motor controller. This class holds all configuration parameters that can be applied to a motor controller.

  • Field Details

    • inverted

      public Boolean inverted
      Motor inversion setting.

    • brakeMode

      public Boolean brakeMode
      Brake mode setting.

    • maxOutput

      public Double maxOutput
      Maximum output value.

    • maxForwardOutput

      public Double maxForwardOutput
      Maximum forward output value.

    • maxReverseOutput

      public Double maxReverseOutput
      Maximum reverse output value.

    • rampUp

      public Double rampUp
      Ramp up time in seconds.

    • rampDown

      public Double rampDown
      Ramp down time in seconds.

    • maxCurrent

      public Double maxCurrent
      Maximum current limit in amps.

    • currentType

      public ThriftyNova.CurrentType currentType
      Current measurement type.

    • forwardSoftLimit

      public Double forwardSoftLimit
      Forward soft limit position in rotations.

    • reverseSoftLimit

      public Double reverseSoftLimit
      Reverse soft limit position in rotations.

    • enableSoftLimits

      public Boolean enableSoftLimits
      Enable soft limits.

    • enableHardLimits

      public Boolean enableHardLimits
      Enable hard limits.

    • absOffset

      public Integer absOffset
      Absolute encoder offset in rotations.

    • tempThrottleEnable

      public Boolean tempThrottleEnable
      Temperature throttle enable setting.

    • motorType

      public ThriftyNova.MotorType motorType
      Motor type.

    • voltageCompensation

      public Double voltageCompensation
      Voltage compensation value.

    • encoderType

      public ThriftyNova.EncoderType encoderType
      Encoder type.

    • externalEncoder

      public ThriftyNova.ExternalEncoder externalEncoder
      External encoder type.

    • absoluteWrapping

      public Boolean absoluteWrapping
      Absolute wrapping enable setting.

    • extSlEnabled

      public Boolean extSlEnabled
      External encoder soft limits enable setting.

    • extSlSource

      public Integer extSlSource
      External encoder soft limits source setting (0=quadrature, 1=absolute).

    • extSlForward

      public Double extSlForward
      External encoder soft limits forward position in rotations.

    • extSlReverse

      public Double extSlReverse
      External encoder soft limits reverse position in rotations.

    • absInverted

      public Boolean absInverted
      Absolute inverted setting.

    • pidSlot

      public ThriftyNova.PIDSlot pidSlot
      PID slot selection.

    • ntLogging

      public Boolean ntLogging
      Network Table logging enable.

    • pid0

      public final ThriftyNova.ThriftyNovaConfig.PIDConfiguration pid0
      PID slot 0 configuration.

    • pid1

      public final ThriftyNova.ThriftyNovaConfig.PIDConfiguration pid1
      PID slot 1 configuration.

    • canFreq

      public final ThriftyNova.ThriftyNovaConfig.CANFreqConfiguration canFreq
      CAN frequency configuration.

  • Constructor Details

    • ThriftyNovaConfig

      public ThriftyNovaConfig()
      Constructs a default ThriftyNovaConfig.

    • ThriftyNovaConfig

      public ThriftyNovaConfig(Boolean inverted, Boolean brakeMode, Double maxOutput, Double maxForwardOutput, Double maxReverseOutput, Double rampUp, Double rampDown, Double maxCurrent, ThriftyNova.CurrentType currentType, Double forwardSoftLimit, Double reverseSoftLimit, Boolean enableSoftLimits, Boolean enableHardLimits, Integer absOffset, Boolean tempThrottleEnable, ThriftyNova.MotorType motorType, Double voltageCompensation, ThriftyNova.EncoderType encoderType, ThriftyNova.ExternalEncoder externalEncoder, Boolean absoluteWrapping, ThriftyNova.PIDSlot pidSlot, Boolean ntLogging, ThriftyNova.ThriftyNovaConfig.PIDConfiguration pid0, ThriftyNova.ThriftyNovaConfig.PIDConfiguration pid1, ThriftyNova.ThriftyNovaConfig.CANFreqConfiguration canFreq)
      Constructs a ThriftyNovaConfig with all parameters.
      Parameters:
      inverted - Motor inversion setting.
      brakeMode - Brake mode setting.
      maxOutput - Maximum output value.
      maxForwardOutput - Maximum forward output value.
      maxReverseOutput - Maximum reverse output value.
      rampUp - Ramp up time in seconds.
      rampDown - Ramp down time in seconds.
      maxCurrent - Maximum current limit in amps.
      currentType - Current measurement type.
      forwardSoftLimit - Forward soft limit position in rotations.
      reverseSoftLimit - Reverse soft limit position in rotations.
      enableSoftLimits - Enable soft limits.
      enableHardLimits - Enable hard limits.
      absOffset - Absolute encoder offset in rotations.
      tempThrottleEnable - Temperature throttle enable setting.
      motorType - Motor type.
      voltageCompensation - Voltage compensation value.
      encoderType - Encoder type.
      externalEncoder - External encoder type.
      absoluteWrapping - Absolute wrapping enable setting.
      pidSlot - PID slot selection.
      ntLogging - Network Table logging enable.
      pid0 - PID slot 0 configuration.
      pid1 - PID slot 1 configuration.
      canFreq - CAN frequency configuration.