Package com.playingwithfusion

Enum CANVenom.ControlMode

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static CANVenom.ControlMode valueOf​(java.lang.String name)
      Returns the enum constant of this type with the specified name.
      static CANVenom.ControlMode[] values()
      Returns an array containing the constants of this enum type, in the order they are declared.

      • Methods inherited from class java.lang.Enum

        clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

      • Methods inherited from class java.lang.Object

        getClass, notify, notifyAll, wait, wait, wait

    • Enum Constant Detail

      • Proportional

        public static final CANVenom.ControlMode Proportional
        Proportional (duty-cycle) control

      • CurrentControl

        public static final CANVenom.ControlMode CurrentControl
        Closed-loop current (torque) control

      • PositionControl

        public static final CANVenom.ControlMode PositionControl
        Closed-loop position (servo) control.

      • MotionProfile

        public static final CANVenom.ControlMode MotionProfile
        Execute a motion control path. Motion profiles are generally loaded in Disabled mode. The transition to the MotionProfile state causes Venom to begin following the path.

      • FollowTheLeader

        public static final CANVenom.ControlMode FollowTheLeader
        Follow the duty cycle commanded to another Venom motor. Generally used when more that one Venom is geared together in a drivetrain application. In that case one Venom, the leader, executes a motion profile or is placed in another control mode. The other Venom(s) are placed in FolloewTheLeader and command the same duty cycle as the leader so that only the leader is used to calculate closed-loop commands. This avoid implementing PID controllers on multiple motors which may "fight".

      • VoltageControl

        public static final CANVenom.ControlMode VoltageControl
        Open-loop voltage control mode, also refered to voltage compensated proportional mode

    • Method Detail

      • values

        public static CANVenom.ControlMode[] values()
        Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows: 
        for (CANVenom.ControlMode c : CANVenom.ControlMode.values())
    System.out.println(c);
        Returns:
        an array containing the constants of this enum type, in the order they are declared

      • valueOf

        public static CANVenom.ControlMode valueOf​(java.lang.String name)
        Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)
        Parameters:
        name - the name of the enum constant to be returned.
        Returns:
        the enum constant with the specified name
        Throws:
        java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
        java.lang.NullPointerException - if the argument is null