MotorWrapper

Usage

import com.btwrobotics.WhatTime.frc.MotorManagers.MotorWrapper;

The MotorWrapper class wraps a TalonFX motor object and allows direction inversion logic to be built-in to simplify use across other classes.

Constructor

Creates a new MotorWrapper with the specified motor and inversion setting:

• motor: The TalonFX motor instance.
• inverted: Whether the motor's direction should be inverted by default.

public MotorWrapper(TalonFX motor, boolean inverted)

Static Helper Method

Convenience method for creating a MotorWrapper using a static syntax:

public static MotorWrapper of(TalonFX motor, boolean inverted)

Methods

Applies speed to the motor, respecting the inversion setting:

public void set(double speed)

Return the underlying TalonFX motor object:

public TalonFX getMotor()

Returns whether this wrapper inverts the motor direction:

public boolean isInverted()

Example Usage

TalonFX myMotor = new TalonFX(5);
MotorWrapper wrapper = new MotorWrapper(myMotor, true);

// Or using the static constructor
MotorWrapper wrapper2 = MotorWrapper.of(new TalonFX(6), false);

wrapper.set(0.5); // Sets the motor to -0.5 due to inversion
boolean inverted = wrapper.isInverted(); // true