move

Moves the motor using the locked control type.

The control type was specified during initialization and cannot be changed. The meaning of the value depends on the locked control type:

• PWM: Duty cycle from -1.0 to 1.0

• VOLTAGE: Voltage in Volts

• POSITION: Target position in rotations

• VELOCITY: Target velocity in rotations per second

Usage Examples:

PWM Control (Duty Cycle: -1.0 to 1.0)

val motor = Mongu(TalonFX(1), control = ControlType.PWM)
motor.move(0.5)     // 50% forward
motor.move(-0.3)    // 30% reverse
motor.move(0.0)     // stop

Voltage Control (in Volts)

val motor = Mongu(TalonFX(1), control = ControlType.VOLTAGE)
motor.move(12.0)  // 12V forward
motor.move(-6.0)  // 6V reverse
motor.move(0.0)   // stop

Position Control (in rotations or encoder units)

val motor = Mongu(TalonFX(1), control = ControlType.POSITION)
motor.move(10.0)   // move to position 10
motor.move(-5.5)   // move to position -5.5

Velocity Control (in rotations per second)

val motor = Mongu(TalonFX(1), control = ControlType.VELOCITY)
motor.move(150.0)   // move at 150 RPS
motor.move(-75.0)   // move at -75 RPS

Motor Support Matrix:

• TalonFX: Supports PWM, Voltage, Position, and Velocity control

• PWMTalonSRX: Supports PWM control only

• PWMSparkMax: Supports PWM control only

Parameters

Throws