wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/CANSpeedController.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Interface CANSpeedController" class="title">Interface CANSpeedController</h2>
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<dt>All Superinterfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html" title="interface in edu.wpi.first.wpilibj">PIDInterface</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html" title="interface in edu.wpi.first.wpilibj">PIDOutput</a>, <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></dd>
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<pre>public interface <span class="typeNameLabel">CANSpeedController</span>
extends <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html" title="interface in edu.wpi.first.wpilibj">PIDInterface</a>, <a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Interface and Description</th>
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<td class="colFirst"><code>static interface </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.ControlMode.html" title="interface in edu.wpi.first.wpilibj">CANSpeedController.ControlMode</a></span></code>
<div class="block">Mode determines how the motor is controlled, used internally.</div>
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<th class="colLast" scope="col">Field and Description</th>
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<td class="colFirst"><code>static java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#SMART_DASHBOARD_TYPE">SMART_DASHBOARD_TYPE</a></span></code>
<div class="block">All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".</div>
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<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getBusVoltage--">getBusVoltage</a></span>()</code>
<div class="block">Get the current input (battery) voltage.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.ControlMode.html" title="interface in edu.wpi.first.wpilibj">CANSpeedController.ControlMode</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getControlMode--">getControlMode</a></span>()</code>
<div class="block">Gets the current control mode.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>default double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getF--">getF</a></span>()</code>
<div class="block">Gets the feed-forward PID constant.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getOutputCurrent--">getOutputCurrent</a></span>()</code>
<div class="block">Get the current being applied to the motor.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getOutputVoltage--">getOutputVoltage</a></span>()</code>
<div class="block">Get the current output voltage.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getPosition--">getPosition</a></span>()</code>
<div class="block">Return the current position of whatever the current selected sensor is.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>default java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getSpeed--">getSpeed</a></span>()</code>
<div class="block">Return the current velocity of whatever the current selected sensor is.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#getTemperature--">getTemperature</a></span>()</code>
<div class="block">Get the current temperature of the controller.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setControlMode-int-">setControlMode</a></span>(int mode)</code>
<div class="block">Sets the control mode of this speed controller.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setD-double-">setD</a></span>(double d)</code>
<div class="block">Set the derivative PID constant.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>default void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setF-double-">setF</a></span>(double f)</code>
<div class="block">Set the feed-forward PID constant.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setI-double-">setI</a></span>(double i)</code>
<div class="block">Set the integral PID constant.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setP-double-">setP</a></span>(double p)</code>
<div class="block">Set the proportional PID constant.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.html#setVoltageRampRate-double-">setVoltageRampRate</a></span>(double rampRate)</code>
<div class="block">Set the maximum rate of change of the output voltage.</div>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#disable--">disable</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#get--">get</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#getInverted--">getInverted</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#set-double-">set</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#setInverted-boolean-">setInverted</a>, <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#stopMotor--">stopMotor</a></code></li>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html" title="interface in edu.wpi.first.wpilibj">PIDOutput</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html#pidWrite-double-">pidWrite</a></code></li>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html" title="interface in edu.wpi.first.wpilibj">PIDInterface</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#disable--">disable</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#enable--">enable</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#getD--">getD</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#getError--">getError</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#getI--">getI</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#getP--">getP</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#getSetpoint--">getSetpoint</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#isEnabled--">isEnabled</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#reset--">reset</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#setPID-double-double-double-">setPID</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDInterface.html#setSetpoint-double-">setSetpoint</a></code></li>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.livewindow.<a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#startLiveWindowMode--">startLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#stopLiveWindowMode--">stopLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#updateTable--">updateTable</a></code></li>
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code></li>
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<h3>Field Detail</h3>
<a name="SMART_DASHBOARD_TYPE">
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<h4>SMART_DASHBOARD_TYPE</h4>
<pre>static final java.lang.String SMART_DASHBOARD_TYPE</pre>
<div class="block">All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".</div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.CANSpeedController.SMART_DASHBOARD_TYPE">Constant Field Values</a></dd>
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<a name="getControlMode--">
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<h4>getControlMode</h4>
<pre><a href="../../../../edu/wpi/first/wpilibj/CANSpeedController.ControlMode.html" title="interface in edu.wpi.first.wpilibj">CANSpeedController.ControlMode</a> getControlMode()</pre>
<div class="block">Gets the current control mode.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current control mode</dd>
</dl>
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<a name="setControlMode-int-">
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<h4>setControlMode</h4>
<pre>void setControlMode(int mode)</pre>
<div class="block">Sets the control mode of this speed controller.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mode</code> - the the new mode</dd>
</dl>
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<a name="setP-double-">
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<h4>setP</h4>
<pre>void setP(double p)</pre>
<div class="block">Set the proportional PID constant.</div>
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<a name="setI-double-">
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<h4>setI</h4>
<pre>void setI(double i)</pre>
<div class="block">Set the integral PID constant.</div>
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<h4>setD</h4>
<pre>void setD(double d)</pre>
<div class="block">Set the derivative PID constant.</div>
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<h4>setF</h4>
<pre>default void setF(double f)</pre>
<div class="block">Set the feed-forward PID constant. This method is optional to implement.</div>
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<a name="getF--">
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<h4>getF</h4>
<pre>default double getF()</pre>
<div class="block">Gets the feed-forward PID constant. This method is optional to implement. If a subclass does
not implement this, it will always return zero.</div>
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<a name="getBusVoltage--">
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<h4>getBusVoltage</h4>
<pre>double getBusVoltage()</pre>
<div class="block">Get the current input (battery) voltage.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the input voltage to the controller (in Volts).</dd>
</dl>
</li>
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<h4>getOutputVoltage</h4>
<pre>double getOutputVoltage()</pre>
<div class="block">Get the current output voltage.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the output voltage to the motor in volts.</dd>
</dl>
</li>
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<a name="getOutputCurrent--">
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<h4>getOutputCurrent</h4>
<pre>double getOutputCurrent()</pre>
<div class="block">Get the current being applied to the motor.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current motor current (in Amperes).</dd>
</dl>
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<h4>getTemperature</h4>
<pre>double getTemperature()</pre>
<div class="block">Get the current temperature of the controller.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current temperature of the controller, in degrees Celsius.</dd>
</dl>
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<a name="getPosition--">
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<h4>getPosition</h4>
<pre>double getPosition()</pre>
<div class="block">Return the current position of whatever the current selected sensor is.
<p>See specific implementations for more information on selecting feedback sensors.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current sensor position.</dd>
</dl>
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<a name="getSpeed--">
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<h4>getSpeed</h4>
<pre>double getSpeed()</pre>
<div class="block">Return the current velocity of whatever the current selected sensor is.
<p>See specific implementations for more information on selecting feedback sensors.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current sensor velocity.</dd>
</dl>
</li>
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<h4>setVoltageRampRate</h4>
<pre>void setVoltageRampRate(double rampRate)</pre>
<div class="block">Set the maximum rate of change of the output voltage.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>rampRate</code> - the maximum rate of change of the voltage, in Volts / sec.</dd>
</dl>
</li>
</ul>
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<h4>getSmartDashboardType</h4>
<pre>default java.lang.String getSmartDashboardType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">Sendable</a></code></span></div>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
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