Package com.ctre.phoenix.motorcontrol.can

Class VictorSPX

java.lang.Object
com.ctre.phoenix.motorcontrol.can.BaseMotorController
com.ctre.phoenix.motorcontrol.can.VictorSPX
All Implemented Interfaces:
IFollower, IMotorController, IInvertable, IOutputSignal
Direct Known Subclasses:
WPI_VictorSPX
public class VictorSPX
extends BaseMotorController
implements IMotorController
VEX Victor SPX Motor Controller when used on CAN Bus. 
 
 // Example usage of a VictorSPX motor controller
 VictorSPX motor = new VictorSPX(0); // creates a new VictorSPX with ID 0

 motor.set(VictorSPXControlMode.PercentOutput, 0.5); // runs the motor at 50% power

 System.out.println(motor.getMotorOutputPercent()); // prints the percent output of the motor (0.5)
 System.out.println(motor.getBusVoltage()); // prints the bus voltage seen by the motor controller

 ErrorCode error = motor.getLastError(); // gets the last error generated by the motor controller
 Faults faults = new Faults();
 ErrorCode faultsError = motor.getFaults(faults); // fills faults with the current motor controller faults; returns the last error generated

  • Constructor Details

    • VictorSPX

      public VictorSPX​(int deviceNumber)
      Constructor
      Parameters:
      deviceNumber - [0,62]

  • Method Details

    • set

      public void set​(VictorSPXControlMode mode, double value)
      Sets the appropriate output on the motor controller, depending on the mode.
      Parameters:
      mode - The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the motor controller to duplicate.
      value - The setpoint value, as described above. Standard Driving Example: _victorLeft.set(ControlMode.PercentOutput, leftJoy); _victorRght.set(ControlMode.PercentOutput, rghtJoy);

    • set

      public void set​(VictorSPXControlMode mode, double demand0, DemandType demand1Type, double demand1)
      Parameters:
      mode - Sets the appropriate output on the motor controller, depending on the mode.
      demand0 - The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the motor controller to duplicate.
      demand1Type - The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. Auxiliary PID is always executed as standard Position PID control. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0.
      demand1 - Supplmental output value. AuxPID: Target position in Sensor Units ArbitraryFeedForward: Percent Output between -1.0 and 1.0 Arcade Drive Example: _victorLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _victorRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn); Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _victorLeft.follow(_victorRght, FollwerType.AuxOutput1); _victorRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading); Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _victorLeft.follow(_victorRght, FollwerType.AuxOutput1); _victorRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

    • getSimCollection

      public VictorSPXSimCollection getSimCollection()
      Returns:
      object that can get/set simulation inputs.

    • getPIDConfigs

      public void getPIDConfigs​(VictorSPXPIDSetConfiguration pid, int pidIdx, int timeoutMs)
      Gets all PID set persistant settings.
      Parameters:
      pid - Object with all of the PID set persistant settings
      pidIdx - 0 for Primary closed-loop. 1 for auxiliary closed-loop.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

    • getPIDConfigs

      public void getPIDConfigs​(VictorSPXPIDSetConfiguration pid)
      Gets all PID set persistant settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).
      Parameters:
      pid - Object with all of the PID set persistant settings

    • configAllSettings

      public ErrorCode configAllSettings​(VictorSPXConfiguration allConfigs, int timeoutMs)
      Configures all persistent settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configAllSettings

      public ErrorCode configAllSettings​(VictorSPXConfiguration allConfigs)
      Configures all persistent settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getAllConfigs

      public void getAllConfigs​(VictorSPXConfiguration allConfigs, int timeoutMs)
      Gets all persistant settings.
      Parameters:
      allConfigs - Object with all of the persistant settings
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

    • getAllConfigs

      public void getAllConfigs​(VictorSPXConfiguration allConfigs)
      Gets all persistant settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings