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package com.grt192.actuator;
import com.grt192.core.Actuator;
import com.grt192.core.Command;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.Victor;
/**
*
* @author Student
*/
public class GRTVictor extends Actuator implements PIDOutput {
Victor victor;
/**
* Creates a motor controlled by a Victor Speed controller. Needs a port to be specified
* @param channel
*/
public GRTVictor(int channel) {
victor = new Victor(channel);
}
/**
* Executes a command. The value of the command should be between 1.0 and -1.0 which
* represend full forward and reverse respectively
* @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;
}
System.out.println(this + " " + c.getValue());
victor.set(value);
}
/**
* Turns off the motor
*/
protected void halt() {
victor.set(0);
}
/**
*
* @return
*/
public String toString() {
return "Victor";
}
/**
*
* @param output
*/
public void pidWrite(double output) {
this.enqueueCommand(output);
}
}