Package org.texastorque.torquelib.legacy

Class TorqueFalcon

java.lang.Object
org.texastorque.torquelib.legacy.base.TorqueMotor
org.texastorque.torquelib.legacy.TorqueFalcon
All Implemented Interfaces:
TorqueEncoderMotor, TorquePIDMotor, TorqueSmartMotor
@Deprecated public final class TorqueFalcon extends TorqueMotor implements TorqueSmartMotor
Deprecated.
NOT SUITABLE FOR 2023
The Texas Torque wrapper for the Falcon (TalonFX) motor controller.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    CLICKS_PER_ROTATION
    Deprecated.
    Clicks per rotation on the motor encoder.

    Fields inherited from class org.texastorque.torquelib.legacy.base.TorqueMotor

    port

  • Constructor Summary

    Constructors
    Constructor
    Description
    TorqueFalcon(int port)
    Deprecated.
    Construct a new TorqueFalcon motor.

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    addFollower(int port)
    Deprecated.
    Add a follower Falcon.
    final void
    addFollower(int port, boolean invert)
    Deprecated.
    Add a follower Falcon and optionally invert.
    final void
    configurePID(TorquePID pid)
    Deprecated.
    Configures the PID controller for the motor.
    final void
    configurePID(KPID kPID)
    Deprecated.
    final double
    getAcceleration()
    Deprecated.
    Get the acceleration of the motor in encoder units per second per second.
    final double
    getAccelerationRPM()
    Deprecated.
    Get the acceleration of the motor in RPM/s.
    final double
    getAccelerationRPS()
    Deprecated.
    Get the acceleration of the motor in RPS/s.
    final double
    getCurrent()
    Deprecated.
    Gets current used by the Falcon.
    final double
    getPosition()
    Deprecated.
    Get the position of the motor in encoder units.
    final double
    getPositionDegrees()
    Deprecated.
    Get the position of the motor in degrees.
    final double
    getPositionRotations()
    Deprecated.
    Get the position of the motor in rotations.
    final double
    getVelocity()
    Deprecated.
    Get the velocity of the motor in encoder units per second.
    final double
    getVelocityRPM()
    Deprecated.
    Get the velocity of the motor in RPM.
    final double
    getVelocityRPS()
    Deprecated.
    Get the velocity of the motor in RPS.
    final void
    invert(boolean invert)
    Deprecated.
    Sets the inversion status of the lead motor.
    final void
    setNeutralMode(com.ctre.phoenix.motorcontrol.NeutralMode neutralMode)
    Deprecated.
    Set neutral mode.
    final void
    setPercent(double percent)
    Deprecated.
    Sets the output of the motor to the given percent.
    final void
    setPosition(double setpoint)
    Deprecated.
    Set the motor's position in encoder units.
    final void
    setPositionDegrees(double setpoint)
    Deprecated.
    Set the motor's position in degrees.
    final void
    setPositionRotations(double setpoint)
    Deprecated.
    Set the motor's position in rotations.
    final void
    setStatorLimit(com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration limit)
    Deprecated.
    Set max amps supply.
    final void
    setSupplyLimit(com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration limit)
    Deprecated.
    Set max amps supply.
    final void
    setVelocity(double setpoint)
    Deprecated.
    Set the motor's velocity in encoder units per second.
    final void
    setVelocityRPM(double setpoint)
    Deprecated.
    Set the motor's velocity in RPM.
    final void
    setVelocityRPS(double setpoint)
    Deprecated.
    Set the motor's velocity in RPS.
    final void
    setVoltage(double outputVolts)
    Deprecated.
    Set the motor to output a certain voltage setpoint.
    final void
    zeroEncoder()
    Deprecated.
    Zero the encoder.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • CLICKS_PER_ROTATION

      public final double CLICKS_PER_ROTATION
      Deprecated.
      Clicks per rotation on the motor encoder.
      See Also:

  • Constructor Details

    • TorqueFalcon

      public TorqueFalcon(int port)
      Deprecated.
      Construct a new TorqueFalcon motor.
      Parameters:
      port - The port (ID) of the motor.

  • Method Details

    • addFollower

      public final void addFollower(int port)
      Deprecated.
      Add a follower Falcon.
      Specified by:
      addFollower in class TorqueMotor
      Parameters:
      port - The port (ID) of the follower Falcon.

    • addFollower

      public final void addFollower(int port, boolean invert)
      Deprecated.
      Add a follower Falcon and optionally invert.
      Specified by:
      addFollower in class TorqueMotor
      Parameters:
      port - The port (ID) of the follower Falcon.

    • invert

      public final void invert(boolean invert)
      Deprecated.
      Sets the inversion status of the lead motor.
      Specified by:
      invert in class TorqueMotor
      Parameters:
      invert - To invert or not to invert.

    • configurePID

      @Deprecated public final void configurePID(KPID kPID)
      Deprecated.
      Configures the PID controller for the motor.
      Specified by:
      configurePID in interface TorquePIDMotor
      Parameters:
      kPID - The KPID value to configure the motor too.

    • configurePID

      public final void configurePID(TorquePID pid)
      Deprecated.
      Configures the PID controller for the motor.
      Specified by:
      configurePID in interface TorquePIDMotor
      Parameters:
      pid - The PID to configure the motor with.

    • setPercent

      public final void setPercent(double percent)
      Deprecated.
      Sets the output of the motor to the given percent.
      Specified by:
      setPercent in class TorqueMotor
      Parameters:
      percent - The percent the motor should output at.

    • setVoltage

      public final void setVoltage(double outputVolts)
      Deprecated.
      Set the motor to output a certain voltage setpoint.
      Specified by:
      setVoltage in class TorqueMotor
      Parameters:
      outputVolts - The voltage to output.

    • setPosition

      public final void setPosition(double setpoint)
      Deprecated.
      Set the motor's position in encoder units.
      Specified by:
      setPosition in interface TorquePIDMotor
      Parameters:
      setpoint - The encoder units to set the motor to.

    • setPositionDegrees

      public final void setPositionDegrees(double setpoint)
      Deprecated.
      Set the motor's position in degrees.
      Specified by:
      setPositionDegrees in interface TorquePIDMotor
      Parameters:
      setpoint - The degrees to set the motor to.

    • setPositionRotations

      public final void setPositionRotations(double setpoint)
      Deprecated.
      Set the motor's position in rotations.
      Specified by:
      setPositionRotations in interface TorquePIDMotor
      Parameters:
      setpoint - The rotations to set the motor to.

    • setVelocity

      public final void setVelocity(double setpoint)
      Deprecated.
      Set the motor's velocity in encoder units per second.
      Specified by:
      setVelocity in interface TorquePIDMotor
      Parameters:
      setpoint - The encoder units per second to set the motor to.

    • setVelocityRPS

      public final void setVelocityRPS(double setpoint)
      Deprecated.
      Set the motor's velocity in RPS.
      Specified by:
      setVelocityRPS in interface TorquePIDMotor
      Parameters:
      setpoint - The RPS to set the motor to.

    • setVelocityRPM

      public final void setVelocityRPM(double setpoint)
      Deprecated.
      Set the motor's velocity in RPM.
      Specified by:
      setVelocityRPM in interface TorquePIDMotor
      Parameters:
      setpoint - The RPM to set the motor to.

    • getPosition

      public final double getPosition()
      Deprecated.
      Get the position of the motor in encoder units.
      Specified by:
      getPosition in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in encoder units.

    • getPositionDegrees

      public final double getPositionDegrees()
      Deprecated.
      Get the position of the motor in degrees.
      Specified by:
      getPositionDegrees in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in degrees.

    • getPositionRotations

      public final double getPositionRotations()
      Deprecated.
      Get the position of the motor in rotations.
      Specified by:
      getPositionRotations in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in rotations.

    • getVelocity

      public final double getVelocity()
      Deprecated.
      Get the velocity of the motor in encoder units per second.
      Specified by:
      getVelocity in interface TorqueEncoderMotor
      Returns:
      acceleration in encoder units per second.

    • getVelocityRPS

      public final double getVelocityRPS()
      Deprecated.
      Get the velocity of the motor in RPS.
      Specified by:
      getVelocityRPS in interface TorqueEncoderMotor
      Returns:
      acceleration in RPS.

    • getVelocityRPM

      public final double getVelocityRPM()
      Deprecated.
      Get the velocity of the motor in RPM.
      Specified by:
      getVelocityRPM in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM.

    • getAcceleration

      public final double getAcceleration()
      Deprecated.
      Get the acceleration of the motor in encoder units per second per second.
      Specified by:
      getAcceleration in interface TorqueEncoderMotor
      Returns:
      acceleration in encoder units per second per second.

    • getAccelerationRPS

      public final double getAccelerationRPS()
      Deprecated.
      Get the acceleration of the motor in RPS/s.
      Specified by:
      getAccelerationRPS in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM/s.

    • getAccelerationRPM

      public final double getAccelerationRPM()
      Deprecated.
      Get the acceleration of the motor in RPM/s.
      Specified by:
      getAccelerationRPM in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM/s.

    • setSupplyLimit

      public final void setSupplyLimit(com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration limit)
      Deprecated.
      Set max amps supply.
      Parameters:
      limit - Supply limit config.

    • setStatorLimit

      public final void setStatorLimit(com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration limit)
      Deprecated.
      Set max amps supply.
      Parameters:
      limit - Stator limit config.

    • getCurrent

      public final double getCurrent()
      Deprecated.
      Gets current used by the Falcon.
      Returns:
      The current used by the Falcon.

    • zeroEncoder

      public final void zeroEncoder()
      Deprecated.
      Zero the encoder.

    • setNeutralMode

      public final void setNeutralMode(com.ctre.phoenix.motorcontrol.NeutralMode neutralMode)
      Deprecated.
      Set neutral mode.
      Parameters:
      neutralMode - Neutral mode.