rmb::AngularFeedforwardontroller Class Reference

#include <rmb/motorcontrol/feedforward/AngularFeedforwardController.h>

Inheritance diagram for rmb::AngularFeedforwardontroller:

Public Member Functions
	AngularFeedforwardontroller (const AngularFeedforwardontroller &)=delete
	AngularFeedforwardontroller (AngularFeedforwardontroller &&)=default
	AngularFeedforwardontroller (std::unique_ptr< frc::MotorController > &&motorController, std::unique_ptr< rmb::Feedforward< units::radians > > &&feedforward)
void	setVelocity (units::radians_per_second_t velocity)
units::radians_per_second_t	getTargetVelocity () const
void	setMaxVelocity (units::radians_per_second_t max)
units::radians_per_second_t	getMaxVelocity () const
void	setInverted (bool isInverted)
bool	getInverted () const
void	disable ()
void	stop ()
Public Member Functions inherited from rmb::AngularVelocityController
virtual void	setPower (double power)=0
virtual double	getPower () const =0
virtual units::radians_per_second_t	getVelocity () const =0
virtual units::radian_t	getPosition () const =0
virtual void	setEncoderPosition (units::radian_t position=0_rad)=0
virtual units::radians_per_second_t	getTolerance () const =0
virtual units::radians_per_second_t	getError () const
virtual bool	atTarget () const

Additional Inherited Members
Public Types inherited from rmb::AngularVelocityController
using	ConversionUnit
using	ConversionUnit_t = units::unit_t<ConversionUnit>

Detailed Description

Interface for setting a motor controllers angular velocity using a feedfoward. Beware< > that since there is no feedbakc device several functions will behave incorrectly. Additionaly, an update method may need to be added for proper voltage compenstation.

Member Function Documentation

disable()

void rmb::AngularFeedforwardontroller::disable ( )

inlinevirtual

Disabls a mechanism.

Implements rmb::AngularVelocityController.

getInverted()

bool rmb::AngularFeedforwardontroller::getInverted ( ) const

inline

Returns the inversion state of a mechanism.

Returns

isInverted The state of inversion, true is inverted.

getMaxVelocity()

units::radians_per_second_t rmb::AngularFeedforwardontroller::getMaxVelocity ( ) const

inline

Gets the maximum angular velocity.

Returns

The maximum angular velocity in radianss per second.

getTargetVelocity()

units::radians_per_second_t rmb::AngularFeedforwardontroller::getTargetVelocity ( ) const

inlinevirtual

Gets the target velocity.

Returns

The target velocity in meters per second.

Implements rmb::AngularVelocityController.

setInverted()

void rmb::AngularFeedforwardontroller::setInverted ( bool isInverted )

inline

Inverterts the direction of a mechanism.

Parameters

isInverted

The state of inversion, true is inverted.

setMaxVelocity()

void rmb::AngularFeedforwardontroller::setMaxVelocity ( units::radians_per_second_t max )

inline

Sets the maximum angular velocity.

Parameters

max	The maximum angular velocity in radians per second.

setVelocity()

void rmb::AngularFeedforwardontroller::setVelocity ( units::radians_per_second_t velocity )

inlinevirtual

Sets the target velocity.

Parameters

velocity

The target linear velocity in meters per second.

Implements rmb::AngularVelocityController.

stop()

void rmb::AngularFeedforwardontroller::stop ( )

inlinevirtual

Stops the mechanism until setVelocity is called again.

Implements rmb::AngularVelocityController.

---

The documentation for this class was generated from the following file:

• src/rmb/motorcontrol/feedforward/AngularFeedforwardController.h