wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/PWMSpeedController.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class PWMSpeedController" class="title">Class PWMSpeedController</h2>
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<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.PWM</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SafePWM</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.PWMSpeedController</li>
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<dt>All Implemented Interfaces:</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/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</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>
</dl>
<dl>
<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/Jaguar.html" title="class in edu.wpi.first.wpilibj">Jaguar</a>, <a href="../../../../edu/wpi/first/wpilibj/PWMTalonSRX.html" title="class in edu.wpi.first.wpilibj">PWMTalonSRX</a>, <a href="../../../../edu/wpi/first/wpilibj/SD540.html" title="class in edu.wpi.first.wpilibj">SD540</a>, <a href="../../../../edu/wpi/first/wpilibj/Spark.html" title="class in edu.wpi.first.wpilibj">Spark</a>, <a href="../../../../edu/wpi/first/wpilibj/Talon.html" title="class in edu.wpi.first.wpilibj">Talon</a>, <a href="../../../../edu/wpi/first/wpilibj/Victor.html" title="class in edu.wpi.first.wpilibj">Victor</a>, <a href="../../../../edu/wpi/first/wpilibj/VictorSP.html" title="class in edu.wpi.first.wpilibj">VictorSP</a></dd>
</dl>
<hr>
<br>
<pre>public abstract class <span class="typeNameLabel">PWMSpeedController</span>
extends <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html" title="class in edu.wpi.first.wpilibj">SafePWM</a>
implements <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></pre>
<div class="block">Common base class for all PWM Speed Controllers.</div>
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<h3>Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.PeriodMultiplier.html" title="enum in edu.wpi.first.wpilibj">PWM.PeriodMultiplier</a></code></li>
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<h3>Fields inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#DEFAULT_SAFETY_EXPIRATION">DEFAULT_SAFETY_EXPIRATION</a></code></li>
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<h3>Constructor Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colFirst" scope="col">Modifier</th>
<th class="colLast" scope="col">Constructor and Description</th>
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<tr class="altColor">
<td class="colFirst"><code>protected </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#PWMSpeedController-int-">PWMSpeedController</a></span>(int channel)</code>
<div class="block">Constructor.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#get--">get</a></span>()</code>
<div class="block">Get the recently set value of the PWM.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#getInverted--">getInverted</a></span>()</code>
<div class="block">Common interface for returning if a speed controller is in the inverted state or not.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#pidWrite-double-">pidWrite</a></span>(double output)</code>
<div class="block">Write out the PID value as seen in the PIDOutput base object.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#set-double-">set</a></span>(double speed)</code>
<div class="block">Set the PWM value.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/PWMSpeedController.html#setInverted-boolean-">setInverted</a></span>(boolean isInverted)</code>
<div class="block">Common interface for inverting direction of a speed controller.</div>
</td>
</tr>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SafePWM.html" title="class in edu.wpi.first.wpilibj">SafePWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#disable--">disable</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#feed--">feed</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#Feed--">Feed</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getDescription--">getDescription</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#getExpiration--">getExpiration</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isAlive--">isAlive</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#isSafetyEnabled--">isSafetyEnabled</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setExpiration-double-">setExpiration</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#setSafetyEnabled-boolean-">setSafetyEnabled</a>, <a href="../../../../edu/wpi/first/wpilibj/SafePWM.html#stopMotor--">stopMotor</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#enableDeadbandElimination-boolean-">enableDeadbandElimination</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#free--">free</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getChannel--">getChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getPosition--">getPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRaw--">getRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRawBounds--">getRawBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSmartDashboardType--">getSmartDashboardType</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSpeed--">getSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setBounds-double-double-double-double-double-">setBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setDisabled--">setDisabled</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPeriodMultiplier-edu.wpi.first.wpilibj.PWM.PeriodMultiplier-">setPeriodMultiplier</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPosition-double-">setPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setRaw-int-">setRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setSpeed-double-">setSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setZeroLatch--">setZeroLatch</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#startLiveWindowMode--">startLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#stopLiveWindowMode--">stopLiveWindowMode</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#updateTable--">updateTable</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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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#stopMotor--">stopMotor</a></code></li>
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<h4>PWMSpeedController</h4>
<pre>protected PWMSpeedController(int channel)</pre>
<div class="block">Constructor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
on the MXP port</dd>
</dl>
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<h4>set</h4>
<pre>public void set(double speed)</pre>
<div class="block">Set the PWM value.
<p>The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the
FPGA.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#set-double-">set</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speed</code> - The speed value between -1.0 and 1.0 to set.</dd>
</dl>
</li>
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<a name="get--">
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<h4>get</h4>
<pre>public double get()</pre>
<div class="block">Get the recently set value of the PWM.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#get--">get</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The most recently set value for the PWM between -1.0 and 1.0.</dd>
</dl>
</li>
</ul>
<a name="setInverted-boolean-">
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<h4>setInverted</h4>
<pre>public void setInverted(boolean isInverted)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#setInverted-boolean-">SpeedController</a></code></span></div>
<div class="block">Common interface for inverting direction of a speed controller.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#setInverted-boolean-">setInverted</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - The state of inversion true is inverted.</dd>
</dl>
</li>
</ul>
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<h4>getInverted</h4>
<pre>public boolean getInverted()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#getInverted--">SpeedController</a></code></span></div>
<div class="block">Common interface for returning if a speed controller is in the inverted state or not.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html#getInverted--">getInverted</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>isInverted The state of the inversion true is inverted.</dd>
</dl>
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<h4>pidWrite</h4>
<pre>public void pidWrite(double output)</pre>
<div class="block">Write out the PID value as seen in the PIDOutput base object.</div>
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html#pidWrite-double-">pidWrite</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/PIDOutput.html" title="interface in edu.wpi.first.wpilibj">PIDOutput</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>output</code> - Write out the PWM value as was found in the PIDController</dd>
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