edu.wpi.first.wpilibj

Class Talon

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.SafePWM

edu.wpi.first.wpilibj.Talon

All Implemented Interfaces:

LiveWindowSendable, MotorSafety, PIDOutput, Sendable, SpeedController

public class Talon
extends SafePWM
implements SpeedController

Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.PWM

kDefaultPwmCenter, kDefaultPwmPeriod, kDefaultPwmStepsDown, kPwmDisabled

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPDPChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
Talon(int channel) Constructor for a Talon (original or Talon SR)

Method Summary

Modifier and Type	Method and Description
double	get() Get the recently set value of the PWM.
void	pidWrite(double output) Write out the PID value as seen in the PIDOutput base object.
void	set(double speed) Set the PWM value.
void	set(double speed, byte syncGroup) Deprecated. For compatibility with CANJaguar The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Methods inherited from class edu.wpi.first.wpilibj.SafePWM

disable, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor

Methods inherited from class edu.wpi.first.wpilibj.PWM

enableDeadbandElimination, free, getChannel, getPosition, getRaw, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setBounds, setPeriodMultiplier, setPosition, setRaw, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTable

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

disable

Constructor Detail

Talon

public Talon(int channel)

Constructor for a Talon (original or Talon SR)

Parameters:

channel - The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port

Method Detail

set

public void set(double speed,
                byte syncGroup)

Deprecated. For compatibility with CANJaguar The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Set the PWM value.

Specified by:

set in interface SpeedController

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0.

syncGroup - The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.

set

public void set(double speed)

Set the PWM value. The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Specified by:

set in interface SpeedController

Parameters:

speed - The speed value between -1.0 and 1.0 to set.

get

public double get()

Get the recently set value of the PWM.

Specified by:

get in interface SpeedController

Returns:

The most recently set value for the PWM between -1.0 and 1.0.

pidWrite

public void pidWrite(double output)

Write out the PID value as seen in the PIDOutput base object.

Specified by:

pidWrite in interface PIDOutput

Parameters:

output - Write out the PWM value as was found in the PIDController