Package frc.team670.pi

Class Motor

java.lang.Object
frc.team670.pi.Motor
public class Motor
extends java.lang.Object
Represents a DC motor which can be controlled with the pi motorshield.
Author:
ctychen, lakshbhambhani

  • Constructor Summary

    Constructors 
    Constructor Description
    Motor​(int mpinA, int mpinB, com.pi4j.io.gpio.Pin mpinE)  

  • Method Summary

    Modifier and Type Method Description
    void close()
    Closes the connection to the motor.
    com.pi4j.io.gpio.GpioPinDigitalOutput getPinE()
    Returns the E pin for the motor
    void set​(double s)  
    void setInverted​(boolean inverted)
    Sets the motors to run in the opposite direction of its original direction

    Methods inherited from class java.lang.Object

    equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • Motor

      public Motor​(int mpinA, int mpinB, com.pi4j.io.gpio.Pin mpinE)
      Parameters:
      a - GPIO pin number of Motor Pin A
      b - GPIO pin number of Motor Pin B
      e - GPIO pin (example: RaspiPin.GPIO_06) of digital output

  • Method Details

    • set

      public void set​(double s)
      Parameters:
      s - [-1.0, +1.0] with -1.0 being full speed reverse, +1.0 being full speed forward

    • setInverted

      public void setInverted​(boolean inverted)
      Sets the motors to run in the opposite direction of its original direction
      Parameters:
      inverted -

    • close

      public void close()
      Closes the connection to the motor. Motor has to be reinitialized to be turned on after this.

    • getPinE

      public com.pi4j.io.gpio.GpioPinDigitalOutput getPinE()
      Returns the E pin for the motor
      Returns:
      GpioDigitalOutput pin E - The E pin controlling the motor