Package org.wildstang.hardware.roborio.outputs.config

Class WsSparkFollowerConfig

java.lang.Object

org.wildstang.hardware.roborio.outputs.config.WsSparkFollowerConfig

All Implemented Interfaces:

OutputConfig

public class WsSparkFollowerConfig
extends Object
implements OutputConfig

Contains configurations for Spark Max/Flex motor controller followers.

Constructor Summary

Constructors

Constructor	Description
WsSparkFollowerConfig(String following, int channel, WsMotorControllers controller)	Construct the Phoenix config.
WsSparkFollowerConfig(String following, int channel, WsMotorControllers controller, boolean oppose)	Construct the Phoenix config.

Method Summary

Modifier and Type	Method	Description
int	getChannel()	Returns the hardware port number.
String	getFollowing()	Returns the name of the followed motor controller.
WsMotorControllers	getType()	Returns true if the motor controller is a Talon.
boolean	isOpposing()	Returns if the follower should oppose the followed.
String	toString()	Builds a JSON String describing the Phoenix config.

Methods inherited from class java.lang.Object

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

Constructor Details

WsSparkFollowerConfig

public WsSparkFollowerConfig(String following,
 int channel,
 WsMotorControllers controller)

Construct the Phoenix config.

Parameters:

following - Name of motor controller being followed.

channel - Hardware port number.

controller - Enumeration representing type of controller.

WsSparkFollowerConfig

public WsSparkFollowerConfig(String following,
 int channel,
 WsMotorControllers controller,
 boolean oppose)

Construct the Phoenix config.

Parameters:

following - Name of motor controller being followed.

channel - Hardware port number.

controller - Enumeration representing type of controller.

oppose - True if the follow should oppose the direction of this motor.

Method Details

getFollowing

public String getFollowing()

Returns the name of the followed motor controller.

Returns:

The name of followed motor controller.

getChannel

public int getChannel()

Returns the hardware port number.

Returns:

The hardware port number.

getType

public WsMotorControllers getType()

Returns true if the motor controller is a Talon.

Returns:

True if Talon, false if Victor.

isOpposing

public boolean isOpposing()

Returns if the follower should oppose the followed.

Returns:

True if opposing.

toString

public String toString()

Builds a JSON String describing the Phoenix config.

Overrides:

toString in class Object

Returns:

Channel number, is brushless, and is opposing.