CuttlefishFTCBridge/com.roboctopi.cuttlefishftcbridge.devices/CuttleMotor

CuttleMotor

open class CuttleMotor : Motor

Cuttlefish DCMotor implementation.

Constructors

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constructor(revHub: CuttleRevHub, port: Int)
constructor(revHub: CuttleRevHub, port: Int, positionController: MotorPositionController)

Properties

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open var estopped: Boolean
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open var interlaced: Boolean
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open var maxCurrent: Int
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open var min_polls_over: Int
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open var polls_over: Int
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open var power: Double
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open var speed: Double

Functions

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open fun enablePositionPID(enable: Boolean)
Enable or disablePID position hold if motorPositionController has been set
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open fun getCurrent(): Int
Get motor current in milli-amps.
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open fun loop()
Execute the positionController loop
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open fun sendPower()
Send cached motor power to the hub.
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open fun setAngle(angle: Double)
Set the angle of the MotorPositionController.
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open fun setDirection(direction: Direction)
Set the direction of the motor
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open fun setPosition(position: Double)
Set the position of the motor using the MotorPositionController with scale applied
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open fun setPower(power: Double)
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open fun setZeroPowerBehaviour(behaviour: DcMotor.ZeroPowerBehavior)
Set the zero power behaviour of the motor.