API reference

motor.setDutyCycle(0.10); // 10% output. Negative requests the other direction.

motor.setVelocity(1500); // Rotor RPM; requires usable velocity gains.

// Only after configuring position gains and establishing a known reference.
motor.setPosition(Math.PI / 2); // Quarter rotor turn from that reference.

MechanismConfigs mechanism = new MechanismConfigs();
mechanism.SensorToMechanismRatio = 5.0;
mechanism.ContinuousWrap = false;
motor.configureMechanism(mechanism);
// In enabled periodic code, once the reference and gains are valid:
motor.setMechanismPosition(0.25); // Quarter mechanism turn; 1.25 motor turns.

follower.setControl(new Follower(1, MotorAlignmentValue.Opposed));
// Later, before sending direct commands to the follower:
follower.stopFollowing();

motor.disable(); // Normal stop: remove the request and coast.
// On a separate emergency-stop event:
motor.estop();
// Release only after the cause is resolved and it is safe to re-enable.
// motor.releaseEstop();

CurrentLimitsConfigs limits = new CurrentLimitsConfigs()
    .withStatorCurrentLimit(30)
    .withSupplyCurrentLimit(20);
StatusCode result = motor.getConfigurator().apply(limits);
if (!result.isOK()) {
    motor.disable();
    System.err.println(result.describe());
}

StatusCode neutral = motor.setNeutralMode(SwyftCyclone.NeutralMode.COAST);
if (!neutral.isOK()) System.err.println(neutral.describe());
// Set neutral mode again after restart; it is not saved to flash.

Slot0Configs velocityGains = new Slot0Configs();
velocityGains.kP = kP;
velocityGains.kI = kI;
StatusCode gainResult = motor.getConfigurator().apply(velocityGains);
if (!gainResult.isOK()) System.err.println(gainResult.describe());
StatusCode derivative = motor.setVelocityDerivativeGain(0.00001); // Example only.
if (!derivative.isOK()) System.err.println(derivative.describe());

ClosedLoopGeneralConfigs gains = new ClosedLoopGeneralConfigs();
gains.PositionKP = positionKp; // Your selected, positive position gain.
StatusCode result = motor.getConfigurator().apply(gains);
if (!result.isOK()) System.err.println(result.describe());

// Save deliberately after checking accepted settings on a stopped motor.
// Do not put this in periodic code or save the same values on every boot.
motor.saveConfiguration();

double rpm = motor.getVelocityRpm();
double rotorRadians = motor.getPositionRad();
double volts = motor.getSupplyVoltage();
double supplyAmps = motor.getSupplyCurrent();
double boardCelsius = motor.getDeviceTemp();
boolean connectedRecently = motor.isAlive(0.25);
SwyftCycloneData data = motor.getLatest();
double motionReceivedAtSeconds = data.motionTimestampSec;

if (motor.hasNewRefusal()) {
    System.err.println(motor.describeRefusal());
}
if (motor.hasHardFault()) {
    motor.disable();
    System.err.println(motor.getPowerStageFaultString());
}
if (motor.hasLikelyRebooted()) {
    motor.disable();
    // Invalidate your saved home/reference and re-establish it before position control.
}

motor.identify();           // Flash the physical motor's identify indication.
motor.setLEDs(0, 80, 255);   // Set all five user lights.
motor.setLED(1, 255, 0, 0);  // Change user LED 1 to red.
// Later, release the user-colour override:
motor.clearLEDs();