Package com.thethriftybot.devices

Class ThriftyNova

java.lang.Object
com.thethriftybot.devices.ThriftyNova
All Implemented Interfaces:
MotorController, AutoCloseable
public final class ThriftyNova extends Object implements MotorController, AutoCloseable
API for interfacing with the Thrifty Nova motor controller. URL to docs here: https://docs.home.thethriftybot.com

  • Field Details

    • errors

      public List<com.thethriftybot.devices.ThriftyNova.Error> errors
      List of configuration errors.

    • pid0

      public final ThriftyNova.PIDConfig pid0
      PID slot 0 configuration interface.

    • pid1

      public final ThriftyNova.PIDConfig pid1
      PID slot 1 configuration interface.

    • canFreq

      public final ThriftyNova.CANFreqConfig canFreq
      CAN frequency configuration interface.

    • canID

      protected int canID

    • deviceHandle

      protected int deviceHandle

    • deviceTable

      protected final NetworkTableInterface deviceTable

    • doNTLogging

      protected boolean doNTLogging

  • Constructor Details

    • ThriftyNova

      public ThriftyNova(int canID)
      Instantiate a new ThriftyMotor object
      Parameters:
      canID - The CAN identifier for the particular device.

    • ThriftyNova

      public ThriftyNova(int canID, ThriftyNova.MotorType motorType)
      Instantiate a new ThriftyMotor object using a CAN identifier.
      Parameters:
      canID - The CAN identifier for the particular device.
      motorType - The type of motor being controlled.

    • ThriftyNova

      public ThriftyNova(int canID, NetworkTableInterface netTableIO)
      Instantiate a new ThriftyMotor object with a custom CAN Interface.
      Parameters:
      canID - The CAN identifier for the particular device.
      netTableIO - The NetworkTable interface to use.

  • Method Details

    • getErrors

      public List<com.thethriftybot.devices.ThriftyNova.Error> getErrors()
      Returns a list of the errors that have populated in the buffer.
      Returns:
      A list of errors.

    • clearErrors

      public void clearErrors()
      Clear the error buffer.

    • hasError

      public boolean hasError(com.thethriftybot.devices.ThriftyNova.Error err)
      Checks if there is a specific error present in the buffer.
      Parameters:
      err - The error to check for.
      Returns:
      If the error exists or not.

    • setInverted

      public void setInverted(boolean inverted)
      Set the inversion status of the motor. Same as setInversion, but does not return a value to satisfy the MotorController interface.
      Specified by:
      setInverted in interface MotorController
      Parameters:
      inverted - If the motor be inverted or not.

    • setInversion

      public ThriftyNova setInversion(boolean inverted)
      Set the inversion status of the motor.
      Parameters:
      inverted - If the motor be inverted or not.
      Returns:
      The ThriftyNova object.

    • getInversion

      public boolean getInversion()
      Get the inversion status of the motor.
      Returns:
      The inversion status.

    • getInverted

      public boolean getInverted()
      Gets the inversion of the motor.
      Specified by:
      getInverted in interface MotorController
      Returns:
      The inversion of the motor.

    • setBrakeMode

      public ThriftyNova setBrakeMode(boolean brakeMode)
      Set the brake mode status of the motor.
      Parameters:
      brakeMode - If the motor should be in brake mode or not.
      Returns:
      The ThriftyNova object.

    • getBrakeMode

      public boolean getBrakeMode()
      Get the brake mode status of the motor.
      Returns:
      The brake mode status.

    • setMaxOutput

      public ThriftyNova setMaxOutput(double maxOutput)
      Set the maximum percent output.
      Parameters:
      maxOutput - Max forward [0, 1].
      Returns:
      The ThriftyNova object.

    • setMaxOutput

      public ThriftyNova setMaxOutput(double maxFwd, double maxRev)
      Set the maximum forward and reverse percent output.
      Parameters:
      maxFwd - Max forward output [0, 1].
      maxRev - Max reverse output [0, 1].
      Returns:
      The ThriftyNova object.

    • getMaxForwardOutput

      public double getMaxForwardOutput()
      Get the maximum forward percent output.
      Returns:
      The maximum forward percent output.

    • getMaxReverseOutput

      public double getMaxReverseOutput()
      Get the maximum reverse percent output.
      Returns:
      The maximum reverse percent output.

    • setRampUp

      public ThriftyNova setRampUp(double rampUp)
      Sets the time to ramp up in seconds from 0 to 10. For example, an input of 0.5 will ramp the motor from idle to 100% over the course of 0.5 seconds.
      Parameters:
      rampUp - The ramp up time.
      Returns:
      The ThriftyNova object.

    • setRampDown

      public ThriftyNova setRampDown(double rampDown)
      Sets the time to ramp down in seconds from 0 to 10. For example, an input of 0.5 will ramp the motor from 100% to idle over the course of 0.5 seconds.
      Parameters:
      rampDown - The ramp down time.
      Returns:
      The ThriftyNova object.

    • getRampUp

      public double getRampUp()
      Gets the ramp up time in seconds.
      Returns:
      The ramp up time.

    • getRampDown

      public double getRampDown()
      Gets the ramp down time in seconds.
      Returns:
      The ramp down time.

    • setMaxCurrent

      public ThriftyNova setMaxCurrent(ThriftyNova.CurrentType currentType, double maxCurrent)
      Set the max current the motor can draw in amps. Motor speed will be capped to satisfy the max current. Also set the what current reading is used for limiting calculations, between: - Stator: Uses the total draw of phase a, b, and c. - Supply: Uses stator plus the draw of the controller itself.
      Parameters:
      currentType - The current reading used for limiting calculations.
      maxCurrent - The max current.
      Returns:
      The ThriftyNova object.

    • setSoftLimits

      public ThriftyNova setSoftLimits(double revLimit, double fwdLimit)
      Sets the soft limits that the motor will not cross if soft limits are enabled.
      Parameters:
      revLimit - The reverse number of rotations the motor will not go past.
      fwdLimit - The forward number of rotations the motor will not go past.
      Returns:
      The ThriftyNova object.

    • enableSoftLimits

      public ThriftyNova enableSoftLimits(boolean enable)
      Enable / disable soft limits.
      Parameters:
      enable - If soft limits should be enabled.
      Returns:
      The ThriftyNova object.

    • enableHardLimits

      public ThriftyNova enableHardLimits(boolean enable)
      Enable / disable hard limits.
      Parameters:
      enable - If hard limits should be enabled.
      Returns:
      The ThriftyNova object.

    • getMaxCurrent

      public double getMaxCurrent()
      Gets the maximum current limit.
      Returns:
      The maximum current limit in amps.

    • getCurrentType

      public ThriftyNova.CurrentType getCurrentType()
      Gets the current type being used for limiting.
      Returns:
      The current type.

    • getForwardSoftLimit

      public double getForwardSoftLimit()
      Gets the forward soft limit.
      Returns:
      The forward soft limit position.

    • getReverseSoftLimit

      public double getReverseSoftLimit()
      Gets the reverse soft limit.
      Returns:
      The reverse soft limit position.

    • areSoftLimitsEnabled

      public boolean areSoftLimitsEnabled()
      Gets whether soft limits are enabled.
      Returns:
      True if soft limits are enabled.

    • areHardLimitsEnabled

      public boolean areHardLimitsEnabled()
      Gets whether hard limits are enabled.
      Returns:
      True if hard limits are enabled.

    • setAbsOffset

      public ThriftyNova setAbsOffset(int offset)
      Sets the absolute encoder offset.
      Parameters:
      offset - The number of ticks (1/4096 rotation) to offset by.
      Returns:
      The ThriftyNova object.

    • getAbsOffset

      public int getAbsOffset()
      Gets the absolute encoder offset value.
      Returns:
      The current offset in ticks (1/4096 rotation).

    • zeroAbsEncoder

      public ThriftyNova zeroAbsEncoder()
      Zeros the absolute encoder reading at the current position.
      Returns:
      The ThriftyNova object.

    • setTempThrottleEnable

      public ThriftyNova setTempThrottleEnable(boolean enabled)
      Sets the temperature throttle enable state.
      Parameters:
      enabled - True to enable temperature throttling, false to disable.
      Returns:
      The ThriftyNova object.

    • getTempThrottleEnable

      public boolean getTempThrottleEnable()
      Gets the temperature throttle enable state.
      Returns:
      True if temperature throttling is enabled, false otherwise.

    • setMotorType

      public ThriftyNova setMotorType(ThriftyNova.MotorType motorType)
      Sets the motor type to use for the motor controller.
      Parameters:
      motorType - The type of motor to use.
      Returns:
      The ThriftyNova object.

    • getMotorType

      public ThriftyNova.MotorType getMotorType()
      Gets the motor type being used for the motor controller.
      Returns:
      The motor type.

    • setVoltageCompensation

      public ThriftyNova setVoltageCompensation(double vcomp)
      Sets the voltage compensation value.
      Parameters:
      vcomp - The voltage compensation value.
      Returns:
      The ThriftyNova object.

    • getVoltageCompensationEnabled

      public double getVoltageCompensationEnabled()
      Get the voltage compensation value.
      Returns:
      The voltage compensation value.

    • useEncoderType

      public ThriftyNova useEncoderType(ThriftyNova.EncoderType encoderType)
      Set the encoder type to use for feedback control.
      Parameters:
      encoderType - The encoder type to use.
      Returns:
      The ThriftyNova object.

    • setExternalEncoder

      public ThriftyNova setExternalEncoder(ThriftyNova.ExternalEncoder external)
      Set the external encoder type.
      Parameters:
      external - The external encoder type.
      Returns:
      The ThriftyNova object.

    • setAbsoluteWrapping

      public ThriftyNova setAbsoluteWrapping(boolean enabled)
      Set the absolute wrapping state.
      Parameters:
      enabled - True to enable absolute wrapping, false to disable.
      Returns:
      The ThriftyNova object.

    • getAbsoluteWrapping

      public boolean getAbsoluteWrapping()
      Get the absolute wrapping state.
      Returns:
      True if absolute wrapping is enabled, false otherwise.

    • usePIDSlot

      public ThriftyNova usePIDSlot(ThriftyNova.PIDSlot pidSlot)
      Set the PID slot to use for feedback control.
      Parameters:
      pidSlot - The PID slot to use.
      Returns:
      The ThriftyNova object.

    • setNTLogging

      public void setNTLogging(boolean enabled)
      Enable or disable NetworkTable logging.
      Parameters:
      enabled - True to enable logging, false to disable.

    • setPercent

      public void setPercent(double percentOutput)
      Sets the percent output of the motor from between 1.0 (full forward) and -1.0 (full reverse), where 0.0 is full stop.
      Parameters:
      percentOutput - The percent output of the motor from [-1, 1].

    • setPercent

      public void setPercent(double percentOutput, double feedForward)
      Sets the percent output of the motor from between 1.0 (full forward) and -1.0 (full reverse), where 0.0 is full stop.
      Parameters:
      percentOutput - The percent output of the motor from [-1, 1].
      feedForward - The feed forward value.

    • set

      public void set(double percentOutput)
      Sets the percent output of the motor from between 1.0 (full forward) and -1.0 (full reverse), where 0.0 is full stop.
      Specified by:
      set in interface MotorController
      Parameters:
      percentOutput - The percent output of the motor from [-1, 1].

    • set

      public void set(double percentOutput, double feedForward)
      Sets the percent output of the motor from between 1.0 (full forward) and -1.0 (full reverse), where 0.0 is full stop.
      Parameters:
      percentOutput - The percent output of the motor from [-1, 1].
      feedForward - The feed forward value to use (0-12v).

    • disable

      public void disable()
      Specified by:
      disable in interface MotorController

    • stopMotor

      public void stopMotor()
      Specified by:
      stopMotor in interface MotorController

    • setPosition

      public void setPosition(double targetPosition, double feedForward)
      Drives the motor towards the given position using the configured PID controller.
      Parameters:
      targetPosition - The position to target in rotations.
      feedForward - The feed forward value to use (0-12v).`

    • setPosition

      public void setPosition(double targetPosition)
      Drives the motor towards the given position using the configured PID controller.
      Parameters:
      targetPosition - The position to target in rotations.

    • setPositionInternal

      public void setPositionInternal(double targetPosition, double feedForward)
      Sets the target position using the internal encoder with feed forward.
      Parameters:
      targetPosition - The target position to set in rotations.
      feedForward - The feed forward value to set (0-12v).

    • setPositionInternal

      public void setPositionInternal(double targetPosition)
      Sets the target position using the internal encoder.
      Parameters:
      targetPosition - The target position to set in rotations.

    • setPositionQuad

      public void setPositionQuad(double targetPosition, double feedForward)
      Sets the target position using the quadrature encoder with feed forward.
      Parameters:
      targetPosition - The target position to set in rotations.
      feedForward - The feed forward value to set (0-12v).

    • setPositionQuad

      public void setPositionQuad(double targetPosition)
      Sets the target position using the quadrature encoder.
      Parameters:
      targetPosition - The target position to set in rotations.

    • setPositionAbs

      public void setPositionAbs(double targetPosition, double feedForward)
      Sets the target position using the absolute encoder.
      Parameters:
      targetPosition - The target position to set in rotations.
      feedForward - The feed forward value to set (0-12v).

    • setPositionAbs

      public void setPositionAbs(double targetPosition)
      Sets the target position using the absolute encoder.
      Parameters:
      targetPosition - The target position to set.

    • setVelocity

      public void setVelocity(double targetVelocity, double feedForward)
      Drives the motor at the given velocity using the configured PID controller.
      Parameters:
      targetVelocity - The velocity to target in revs/sec.
      feedForward - The feed forward value to use (0-12v).

    • setVelocity

      public void setVelocity(double targetVelocity)
      Drives the motor at the given velocity using the configured PID controller.
      Parameters:
      targetVelocity - The velocity to target.

    • setVelocityInternal

      public void setVelocityInternal(double targetVelocity, double feedForward)
      Sets the target velocity using the internal encoder with feed forward.
      Parameters:
      targetVelocity - The target velocity to set.
      feedForward - The feed forward value to set (0-12v).

    • setVelocityInternal

      public void setVelocityInternal(double targetVelocity)
      Sets the target velocity using the internal encoder.
      Parameters:
      targetVelocity - The target velocity to set.

    • setVelocityQuad

      public void setVelocityQuad(double targetVelocity, double feedForward)
      Sets the target velocity using the quadrature encoder with feed forward.
      Parameters:
      targetVelocity - The target velocity to set.
      feedForward - The feed forward value to set (0-12v).

    • setVelocityQuad

      public void setVelocityQuad(double targetVelocity)
      Sets the target velocity using the quadrature encoder.
      Parameters:
      targetVelocity - The target velocity to set.

    • follow

      public void follow(int followerID)
      Drives the motor using the parameters of the configured followed motor controller. Follower mode is dependant on the fault status frame. The slower that frame is sent, the slower the follower motor will update.
      Parameters:
      followerID - The target ID to follow.

    • updateStatusNT

      public void updateStatusNT()
      Calls every status/feedback getter that has a network table entry

    • getPosition

      public double getPosition()
      Gets the encoder position measurement.
      Returns:
      The position measurement in rotations.

    • getPositionInternal

      public double getPositionInternal()
      Gets the internal encoder position.
      Returns:
      The internal encoder position in rotations.

    • getPositionQuad

      public double getPositionQuad()
      Gets the quadrature encoder position.
      Returns:
      The quadrature encoder position in rotations.

    • getPositionAbs

      public double getPositionAbs()
      Gets the absolute encoder position.
      Returns:
      The absolute encoder position in rotations.

    • getVelocity

      public double getVelocity()
      Gets the encoder velocity measurement.
      Returns:
      The velocity measurement (rev/sec).

    • getVelocityInternal

      public double getVelocityInternal()
      Gets the internal encoder velocity.
      Returns:
      The internal encoder velocity (rev/sec).

    • getVelocityQuad

      public double getVelocityQuad()
      Gets the quadrature encoder velocity.
      Returns:
      The quadrature encoder velocity (rev/sec).

    • getVoltage

      public double getVoltage()
      Gets the voltage measurement.
      Returns:
      The voltage measurement in volts.

    • getIOState

      public boolean[] getIOState()
      Gets the IO state of the motor controller.

      Each element in the array corresponds to a specific I/O signal:

      • Index 0: FWD_LIMIT - true if the forward limit sensor is active.
      • Index 1: QUAD_INDEX - true if the quad index sensor is active.
      • Index 2: REV_LIMIT - true if the reverse limit sensor is active.
      • Index 3: ALT_QUAD_INDEX - true if the alternate quad index sensor is active.
      • Index 4: QUAD_A - true if the QUAD_A signal is high.
      • Index 5: QUAD_B - true if the QUAD_B signal is high.
      Returns:
      The array containing the IO state.

    • getReverseLimit

      public BooleanSupplier getReverseLimit()
      Gets the reverse limit switch state.
      Returns:
      The reverse limit switch state.

    • getForwardLimit

      public BooleanSupplier getForwardLimit()
      Gets the forward limit switch state.
      Returns:
      The forward limit switch state.

    • getQuadIndex

      public BooleanSupplier getQuadIndex()
      Gets the Quadrature encoder index state.
      Returns:
      The Quadrature encoder index state.

    • getQuadA

      public BooleanSupplier getQuadA()
      Gets the Quadrature encoder A state.
      Returns:
      The Quadrature encoder A state.

    • getQuadB

      public BooleanSupplier getQuadB()
      Gets the Quadrature encoder B state.
      Returns:
      The Quadrature encoder B state.

    • getAltQuadIndex

      public BooleanSupplier getAltQuadIndex()
      Gets the alterante quadrature index state.
      Returns:
      The alternate quadrature index state.

    • getStatorCurrent

      public double getStatorCurrent()
      Gets the stator current measurement.
      Returns:
      The stator current measurement.

    • getSupplyCurrent

      public double getSupplyCurrent()
      Gets the supply current measurement.
      Returns:
      The supply current measurement.

    • getTemperature

      public double getTemperature()
      Gets the temperature of the motor controller.
      Returns:
      The temperature of the motor controller.

    • getSetPoint

      public double getSetPoint()
      Returns the last set point specified by the user in any control method. Percent output set point becomes zero.
      Returns:
      The current set point.

    • get

      public double get()
      Returns the last set point specified by the user in any control method. Percent output set point becomes zero.
      Specified by:
      get in interface MotorController
      Returns:
      The current set point.

    • getClosedLoopError

      public double getClosedLoopError()
      Returns the error to the last set point that was input, based on last used control mode (position or velocity), and encoder type (internal or quaderature).
      Returns:
      The closed loop error.

    • setEncoderPosition

      public void setEncoderPosition(double position)
      Sets the encoder position.
      Parameters:
      position - The position to set the encoder to.

    • setExtSlEnabled

      public ThriftyNova setExtSlEnabled(boolean enable)
      Enable or disable external encoder soft limits.
      Parameters:
      enable - True to enable, false to disable.
      Returns:
      The ThriftyNova object.

    • setExtSlSource

      public ThriftyNova setExtSlSource(int source)
      Set the external encoder soft limits source.
      Parameters:
      source - 0 for quadrature, 1 for absolute.
      Returns:
      The ThriftyNova object.

    • setExtSlForward

      public ThriftyNova setExtSlForward(double position)
      Set the external encoder forward soft limit position.
      Parameters:
      position - The position in rotations.
      Returns:
      The ThriftyNova object.

    • setExtSlReverse

      public ThriftyNova setExtSlReverse(double position)
      Set the external encoder reverse soft limit position.
      Parameters:
      position - The position in rotations.
      Returns:
      The ThriftyNova object.

    • setAbsInverted

      public ThriftyNova setAbsInverted(boolean inverted)
      Invert the absolute encoder direction.
      Parameters:
      inverted - true to invert, false for normal.
      Returns:
      The ThriftyNova object.

    • setLaserEnable

      public ThriftyNova setLaserEnable(boolean enable)
      Enables or disables the LaserCAN stop feature.
      Parameters:
      enable - True to enable, false to disable.
      Returns:
      The ThriftyNova object.

    • setLaserCANID

      public ThriftyNova setLaserCANID(int id)
      Sets the CAN ID of the LaserCAN sensor.
      Parameters:
      id - The CAN ID of the LaserCAN sensor.
      Returns:
      The ThriftyNova object.

    • setLaserDistance

      public ThriftyNova setLaserDistance(int distance)
      Sets the stopping distance for the LaserCAN sensor.
      Parameters:
      distance - The distance in millimeters.
      Returns:
      The ThriftyNova object.

    • factoryReset

      public void factoryReset()
      Factory resets the motor controller to its default state.

    • applyConfig

      public void applyConfig(ThriftyNova.ThriftyNovaConfig config)
      Applies a configuration object to the motor controller. Only non-null fields in the configuration object will be applied.
      Parameters:
      config - The configuration object to apply.

    • close

      public void close() throws Exception
      Specified by:
      close in interface AutoCloseable
      Throws:
      Exception

    • updateStatusNTGlobal

      public static void updateStatusNTGlobal()
      Updates the network tables for all ThriftyNova motors.

    • getID

      public int getID()
      Returns the CAN ID the device was initialized with.
      Returns:
      The device's CAN ID

    • receiveStatusFrame

      protected int receiveStatusFrame(int index, int startByte, int endByte)

    • receiveStatusFrameByBit

      protected int receiveStatusFrameByBit(int index, int startBit, int endBit)

    • logNT

      public String logNT(String key, String value)

    • logNT

      public boolean logNT(String key, boolean value)

    • logNT

      protected double logNT(String key, double value)

    • logNT

      protected int logNT(String key, int value)