Package com.playingwithfusion

Enum Class CANVenom.ControlMode

java.lang.Object

java.lang.Enum<CANVenom.ControlMode>

com.playingwithfusion.CANVenom.ControlMode

All Implemented Interfaces:

Serializable, Comparable<CANVenom.ControlMode>, Constable

Enclosing class:

CANVenom

public static enum CANVenom.ControlMode
extends Enum<CANVenom.ControlMode>

Venom control strategy

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
CurrentControl	Closed-loop current (torque) control
Disabled	Motor is disabled and coasting
FollowTheLeader	Follow the duty cycle commanded to another Venom motor.
MotionProfile	Execute a motion control path.
PositionControl	Closed-loop position (servo) control.
Proportional	Proportional (duty-cycle) control
SpeedControl	Closed-loop speed control.
VoltageControl	Open-loop voltage control mode, also refered to voltage compensated proportional mode

Method Summary

Modifier and Type	Method	Description
static CANVenom.ControlMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static CANVenom.ControlMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

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

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

Disabled

public static final CANVenom.ControlMode Disabled

Motor is disabled and coasting

Proportional

public static final CANVenom.ControlMode Proportional

Proportional (duty-cycle) control

CurrentControl

public static final CANVenom.ControlMode CurrentControl

Closed-loop current (torque) control

SpeedControl

public static final CANVenom.ControlMode SpeedControl

Closed-loop speed 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 Details

values

public static CANVenom.ControlMode[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static CANVenom.ControlMode valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (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:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null