NextFTC Hardware/dev.nextftc.hardware.actuators/NextMotor/ControlType

ControlType

sealed class ControlType

Motor control mode.

Determines how the motor interprets and uses the power value.

Inheritors

Types

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data class AbsolutePosition(val setpoint: Angle) : NextMotor.ControlType

Continuous closed-loop absolute position tracking using PID and feedforward. Takes the shortest path to the angle regardless of current rotations.

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data class Follow(val motor: NextMotor, val direction: NextMotor.Direction) : NextMotor.ControlType

Follows another motor's behavior.

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data class Position(val setpoint: Angle) : NextMotor.ControlType

Closed-loop position tracking using PID and feedforward.

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data class Throttle(val throttle: Double) : NextMotor.ControlType

Direct power/duty cycle control. Power is applied as-is.

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data class Velocity(val setpoint: AngularVelocity) : NextMotor.ControlType

Closed-loop velocity tracking using PID and feedforward.

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data class Voltage(val voltage: Voltage) : NextMotor.ControlType

Voltage-based control. Power is adjusted to account for rail voltage.

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