Added IdleMode to VikingMAX

FRC6854 · Feb 19, 2020 · d2ebca1 · d2ebca1
1 parent dead390
commit d2ebca1
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/src/main/java/viking/controllers/rev/VikingMAX.java b/src/main/java/viking/controllers/rev/VikingMAX.java
@@ -4,6 +4,7 @@
 import com.revrobotics.CANPIDController;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class VikingMAX {
@@ -39,6 +40,7 @@ public VikingMAX(int id, boolean inverted,
 
         setPIDF(kP, kI, kD, kF);
         setSmartMotion(velocity, acceleration);
+        setIdleMode(IdleMode.kBrake);
     }
 
     /**
@@ -56,6 +58,8 @@ public VikingMAX(int id, boolean inverted) {
         encoder = motor.getEncoder();
 
         pidController.setOutputRange(-1, 1);
+
+        setIdleMode(IdleMode.kBrake);
     }
 
     /**
@@ -177,6 +181,14 @@ public void zeroEncoder() {
         encoder.setPosition(0);
     }
 
+    /**
+     * Set the current idle mode (coast / break)
+     * @param mode the mode to set
+     */
+    public void setIdleMode(IdleMode mode) {
+        motor.setIdleMode(mode);
+    }
+
     /**
      * Returns the CANSparkMax controller for lower access control
      * @return the CANSparkMax controller