Volt/dev.kingssack.volt.attachment/DcMotorAttachment

DcMotorAttachment

open class DcMotorAttachment(name: String, motor: DcMotor, idlePower: Double, maxPosition: Int, minPosition: Int = 0, direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD) : Attachment

DcMotorAttachment is an Attachment that controls a motor.

Parameters

name

the name of the attachment

motor

the motor to control

idlePower

the idle power of the motor

maxPosition

the maximum position of the motor

minPosition

the minimum position of the motor

Constructors

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constructor(name: String, motor: DcMotor, idlePower: Double, maxPosition: Int, minPosition: Int = 0, direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD)

Properties

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var currentGoal: Int

the position of the current goal

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val name: String
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val state: StateFlow<AttachmentState>

Functions

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fun goTo(power: Power, position: Ticks): Action

Move to a position at a specified power.

fun goTo(power: Double, position: Int): Action
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fun isBusy(): Boolean

Checks if the attachment is currently busy (Running).

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fun isFaulted(): Boolean

Checks if the attachment is currently in a faulted state.

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fun requireReady()

Ensures the attachment is in the Idle state, throwing an exception if not.

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fun reset(): Action

Resets the motor's encoder.

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open override fun stop()

Stops the attachment and resets its state to Idle.

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context(telemetry: Telemetry)
open override fun update()

Updates the telemetry with the current state of the attachment.

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