Malefix/xyz.malefic.frc.pingu.motor.cansparkmax/SparkuMax

SparkuMax

class SparkuMax(channel: Int, monguConfig: PWMSparkMaxConfig.() -> Unit = {}) : PWMSparkMax, Mongu<PWMSparkMaxConfig>

PWMSparkMax motor implementation that extends PWMSparkMax and implements the Mongu interface.

This class provides direct access to PWMSparkMax-specific functionality while implementing the common Mongu interface. It provides PWM control for the motor.

Usage Examples:

// Create a PWMSparkMax motor
val motor = SparkuMax(0)
motor.configure {
    inverted = true
    deadbandElimination = false
}
motor.move(0.5)  // PWM control

Parameters

channel

The PWM channel for this motor controller.

monguConfig

A lambda that applies initial configuration settings to the motor.

Constructors

constructor(channel: Int, monguConfig: PWMSparkMaxConfig.() -> Unit = {})

Properties

open val channel: Int

open override var configuration: PWMSparkMaxConfig

The configuration for this PWMSparkMax motor.

open val description: String?

open var expiration: Double

open var inverted: Boolean

open val isAlive: Boolean

isSafetyEnabled

open var isSafetyEnabled: Boolean

val pwm: Double

Property to calculate the PWM voltage ratio for SparkuMax.

open val pwmHandle: Int

open var voltage: Double

Functions

open fun addFollower(follower: PWMMotorController?)

open fun check()

open fun close()

open override fun configure(block: PWMSparkMaxConfig.() -> Unit)

Configures the motor using a DSL-style configuration block.

open fun disable()

enableDeadbandElimination

open fun enableDeadbandElimination(eliminateDeadband: Boolean)

open fun feed()

open fun get(): Double

open fun initSendable(builder: SendableBuilder?)

open override fun movePWM(value: Double)

Moves the motor using PWM control.

open operator override fun not()

Stops the motor when the logical not operator (!) is applied to this instance.

open fun set(speed: Double)

open fun stopMotor()