Malefix/xyz.malefic.frc.pingu.motor/Mongu

Mongu

class Mongu<T : Any>(val motor: T, val engu: Engu? = null, val control: ControlType, enguConfig: CANcoderConfiguration.() -> Unit = {}, monguConfig: MonguConfig<out T>.() -> Unit = {})

A generic motor wrapper class that allows configuration of different motor types.

The control type is locked at initialization and cannot be changed during runtime. This ensures type safety and prevents accidental control type switching.

Usage Examples:

// Create a motor with PWM control
val motor = Mongu(TalonFX(1), control = ControlType.PWM)
motor.move(0.5)  // 50% forward

// Create a motor with position control
val posMotor = Mongu(TalonFX(2), control = ControlType.POSITION) {
    this as TalonFXConfig
    pingu.p = 0.1
}
posMotor.move(10.0)  // move to position 10

Parameters

The type of motor being wrapped.

monguConfig

A lambda that applies configuration settings to the motor.

enguConfig

A lambda that applies configuration settings to the encoder.

Constructors

Mongu

constructor(motor: T, engu: Engu? = null, control: ControlType, enguConfig: CANcoderConfiguration.() -> Unit = {}, monguConfig: MonguConfig<out T>.() -> Unit = {})

Properties

acceleration

val MonguFX.acceleration: Double

Retrieves the current acceleration of the TalonFX motor.

channel

val MonguSpark.channel: Int

Extension property to retrieve the PWM channel for MonguSpark.

val MonguSRX.channel: Int

Extension property to retrieve the PWM channel for MonguSRX.

configuration

lateinit var configuration: MonguConfig<T>

Holds the last configuration applied to this motor. This property is updated whenever the configure method is called. It allows retrieval of the configuration settings for inspection or reuse.

control

val control: ControlType

The control type that this motor is locked to.

deviceID

val MonguFX.deviceID: Int

Retrieves the device ID of the underlying TalonFX motor.

engu

val engu: Engu?

An optional encoder associated with the motor.

isConnected

val MonguFX.isConnected: Boolean

Indicates whether the TalonFX motor is currently connected.