Package com.playingwithfusion.jni

Class CANVenomJNI

java.lang.Object
com.playingwithfusion.jni.CANVenomJNI
public class CANVenomJNI extends Object
Wrapper class for CANVenom

  • Constructor Details

    • CANVenomJNI

      public CANVenomJNI()

  • Method Details

    • forceLoad

      public static void forceLoad() throws IOException
      Force load the library.
      Throws:
      IOException - Unable to load libPlayingWithFusionDriver.so

    • create

      public static long create(int motorID)

    • destroy

      public static void destroy(long handle)

    • identifyMotor

      public static void identifyMotor(long handle)

    • resetPosition

      public static void resetPosition(long handle)

    • setPosition

      public static void setPosition(long handle, double newPosition)

    • stopMotor

      public static void stopMotor(long handle)

    • getFirmwareVersion

      public static long getFirmwareVersion(long handle)

    • getSerialNumber

      public static long getSerialNumber(long handle)

    • set

      public static void set(long handle, double command)

    • pidWrite

      public static void pidWrite(long handle, double command)

    • setInverted

      public static void setInverted(long handle, boolean isInverted)

    • get

      public static double get(long handle)

    • getInverted

      public static boolean getInverted(long handle)

    • disable

      public static void disable(long handle)

    • enable

      public static void enable(long handle)

    • getFwdLimitSwitchActive

      public static boolean getFwdLimitSwitchActive(long handle)

    • getRevLimitSwitchActive

      public static boolean getRevLimitSwitchActive(long handle)

    • enableLimitSwitches

      public static void enableLimitSwitches(long handle, boolean fwdLimitSwitchEnabled, boolean revLimitSwitchEnabled)

    • getNumAvaliableMotionProfilePoints

      public static int getNumAvaliableMotionProfilePoints(long handle)

    • getCurrentMotionProfilePoint

      public static int getCurrentMotionProfilePoint(long handle)

    • getMotionProfilePositionTarget

      public static double getMotionProfilePositionTarget(long handle)

    • getMotionProfileSpeedTarget

      public static double getMotionProfileSpeedTarget(long handle)

    • getMotionProfileIsValid

      public static boolean getMotionProfileIsValid(long handle)

    • getMotionProfileState

      public static int getMotionProfileState(long handle)

    • clearMotionProfilePoints

      public static void clearMotionProfilePoints(long handle)

    • addMotionProfilePoint

      public static void addMotionProfilePoint(long handle, double time, double speed, double position)

    • completeMotionProfilePath

      public static void completeMotionProfilePath(long handle, double time, double position)

    • executePath

      public static void executePath(long handle)

    • getBusVoltage

      public static double getBusVoltage(long handle)

    • getOutputVoltage

      public static double getOutputVoltage(long handle)

    • getDutyCycle

      public static double getDutyCycle(long handle)

    • getOutputCurrent

      public static double getOutputCurrent(long handle)

    • getTemperature

      public static double getTemperature(long handle)

    • getAuxVoltage

      public static double getAuxVoltage(long handle)

    • getSpeed

      public static double getSpeed(long handle)

    • getPosition

      public static double getPosition(long handle)

    • getPIDTarget

      public static double getPIDTarget(long handle)

    • getKF

      public static double getKF(long handle)

    • getB

      public static double getB(long handle)

    • getKP

      public static double getKP(long handle)

    • getKI

      public static double getKI(long handle)

    • getKD

      public static double getKD(long handle)

    • getMinPILimit

      public static double getMinPILimit(long handle)

    • getMaxPILimit

      public static double getMaxPILimit(long handle)

    • getMaxSpeed

      public static double getMaxSpeed(long handle)

    • getMaxAcceleration

      public static double getMaxAcceleration(long handle)

    • getMaxJerk

      public static double getMaxJerk(long handle)

    • getControlMode

      public static int getControlMode(long handle)

    • getActiveControlMode

      public static int getActiveControlMode(long handle)

    • getBrakeCoastMode

      public static int getBrakeCoastMode(long handle)

    • getActiveFaults

      public static int getActiveFaults(long handle)

    • getLatchedFaults

      public static int getLatchedFaults(long handle)

    • clearLatchedFaults

      public static void clearLatchedFaults(long handle)

    • setCommandAndMode

      public static void setCommandAndMode(long handle, int mode, double command)

    • setCommand

      public static void setCommand(long handle, int mode, double command, double kF, double b)

    • setPID

      public static void setPID(long handle, double kP, double kI, double kD, double kF, double b)

    • setKF

      public static void setKF(long handle, double kF)

    • setB

      public static void setB(long handle, double b)

    • setKP

      public static void setKP(long handle, double kP)

    • setKI

      public static void setKI(long handle, double kI)

    • setKD

      public static void setKD(long handle, double kD)

    • setMinPILimit

      public static void setMinPILimit(long handle, double limit)

    • setMaxPILimit

      public static void setMaxPILimit(long handle, double limit)

    • setMaxSpeed

      public static void setMaxSpeed(long handle, double limit)

    • setMaxAcceleration

      public static void setMaxAcceleration(long handle, double limit)

    • setMaxJerk

      public static void setMaxJerk(long handle, double limit)

    • setControlMode

      public static void setControlMode(long handle, int controlMode)

    • setBrakeCoastMode

      public static void setBrakeCoastMode(long handle, int brakeCoastMode)