/*
* Luminary Micro Jaguar Speed Controller
* Reviewed AG 11/2/2009 -- OK
*/
package com.grt192.actuator;
import com.grt192.core.Actuator;
import com.grt192.core.Command;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.PIDOutput;
/**
*
* @author Student
*/
public class GRTJaguar extends Actuator implements PIDOutput {
private Jaguar jaguar;
/**
* Creates a jaguar at a channel. The channel is the port number on the Digital side car
* @param channel
*/
public GRTJaguar(int channel) {
jaguar = new Jaguar(channel);
}
/**
* Sends a command to the Jaguar. The parameter of the command should be a double
* between -1.0 and 1.0. 1.0 is full forward and -1.0 is full reverse
*
* @param c
*/
public void executeCommand(Command c) {
double value = c.getValue();
if (value > 1.0) {
value = 1.0;
}
if (value < -1.0) {
value = -1.0;
}
jaguar.set(value);
}
/**
* Sets the motor speed to 0
*/
public void halt() {
//Sets motor speed to 0;
jaguar.set(0);
}
/**
*
* @return
*/
public String toString() {
return "Jaguar";
}
/**
*
* @param output
*/
public void pidWrite(double output) {
this.enqueueCommand(output);
}
}