rmb::AngularPositionController Class Reference

#include <rmb/motorcontrol/AngularPositionController.h>

Inheritance diagram for rmb::AngularPositionController:

Public Types
using	ConversionUnit
using	ConversionUnit_t = units::unit_t<ConversionUnit>

Public Member Functions
virtual void	setPosition (units::radian_t position)=0
virtual units::radian_t	getTargetPosition () const =0
virtual void	setPower (double power)=0
virtual double	getPower () const =0
virtual units::radian_t	getMinPosition () const =0
virtual units::radian_t	getMaxPosition () const =0
virtual void	disable ()=0
virtual void	stop ()=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::radian_t	getTolerance () const =0
virtual units::radian_t	getError () const
virtual bool	atTarget () const

Detailed Description

Interface for controlling a mechanism's angular position used by wrappers of device specific APIs.

Member Typedef Documentation

ConversionUnit

using rmb::AngularPositionController::ConversionUnit

Initial value:

 
      units::compound_unit<units::meters, units::inverse<units::radians>>

Member Function Documentation

atTarget()

virtual bool rmb::AngularPositionController::atTarget ( ) const

inlinevirtual

Common interface for getting whether the mechanism has achived it's target velocity.

Returns

true is the controller has achived the target velocity.

disable()

virtual void rmb::AngularPositionController::disable ( )

pure virtual

Common interface for disabling a mechanism.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getError()

virtual units::radian_t rmb::AngularPositionController::getError ( ) const

inlinevirtual

Common interface for getting the error between the velocities controllers target velocity and the actual velocity measured by the encoder.

Returns

position error in radians per second.

getMaxPosition()

virtual units::radian_t rmb::AngularPositionController::getMaxPosition ( ) const

pure virtual

Common interface for getting the maximum angular position.

Returns

The maximum angular position in radians.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getMinPosition()

virtual units::radian_t rmb::AngularPositionController::getMinPosition ( ) const

pure virtual

Common interface for getting the minimum angular position.

Returns

The minimum angular position in radians.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getPosition()

virtual units::radian_t rmb::AngularPositionController::getPosition ( ) const

pure virtual

Common interface for returning the angular position of an encoder.

Returns

The position of the encoder in radians.

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getPower()

virtual double rmb::AngularPositionController::getPower ( ) const

pure virtual

Retrieve the percentage [0.0, 1.0] output of the motor

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getTargetPosition()

virtual units::radian_t rmb::AngularPositionController::getTargetPosition ( ) const

pure virtual

Common interface for getting the target angular position.

Returns

The target angular position in radians.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getTolerance()

virtual units::radian_t rmb::AngularPositionController::getTolerance ( ) const

pure virtual

Common interface for getting a controllers tolerance

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

getVelocity()

virtual units::radians_per_second_t rmb::AngularPositionController::getVelocity ( ) const

pure virtual

Common interface for returning the angular velocity of an encoder.

Returns

The velocity of the encoder in radians per second.

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

setEncoderPosition()

virtual void rmb::AngularPositionController::setEncoderPosition ( units::radian_t position = 0_rad )

pure virtual

Common interface for setting the position the encoder reports

Parameters

position

the position the encoder should report

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

setPosition()

virtual void rmb::AngularPositionController::setPosition ( units::radian_t position )

pure virtual

Common interface for setting the target angular position.

Parameters

position

The target angular position in radians.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

setPower()

virtual void rmb::AngularPositionController::setPower ( double power )

pure virtual

Common interface for setting a mechanism's raw power output.

Implemented in rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

stop()

virtual void rmb::AngularPositionController::stop ( )

pure virtual

Common interface to stop the mechanism until setPosition is called again.

Implemented in rmb::ServoPositionController, rmb::SparkMaxPositionController, and rmb::TalonFXPositionController.

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

• src/rmb/motorcontrol/AngularPositionController.h