rmb::SparkMaxPositionController Class Reference

#include <rmb/motorcontrol/sparkmax/SparkMaxPositionController.h>

Inheritance diagram for rmb::SparkMaxPositionController:

Classes
struct	CreateInfo

Public Types
using	MotorConfig = SparkMaxPositionControllerHelper::MotorConfig
using	PIDConfig = SparkMaxPositionControllerHelper::PIDConfig
using	Range = SparkMaxPositionControllerHelper::Range
using	ProfileConfig = SparkMaxPositionControllerHelper::ProfileConfig
using	EncoderType = SparkMaxPositionControllerHelper::EncoderType
using	LimitSwitchConfig = SparkMaxPositionControllerHelper::LimitSwitchConfig
using	FeedbackConfig = SparkMaxPositionControllerHelper::FeedbackConfig
Public Types inherited from rmb::AngularPositionController
using	ConversionUnit
using	ConversionUnit_t = units::unit_t<ConversionUnit>

Public Member Functions
	SparkMaxPositionController (SparkMaxPositionController &&)=delete
	SparkMaxPositionController (const SparkMaxPositionController &)=delete
	SparkMaxPositionController (const CreateInfo &createInfo)
void	setPosition (units::radian_t position) override
units::radian_t	getTargetPosition () const override
virtual void	setPower (double power) override
virtual double	getPower () const override
units::radian_t	getMinPosition () const override
units::radian_t	getMaxPosition () const override
void	disable () override
void	stop () override
units::radians_per_second_t	getVelocity () const override
units::radian_t	getPosition () const override
void	setEncoderPosition (units::radian_t position=0_rad) override
units::radian_t	getTolerance () const override
Public Member Functions inherited from rmb::AngularPositionController
virtual units::radian_t	getError () const
virtual bool	atTarget () const

Detailed Description

A wrapper around the SparkMax motorcontroller that allows for the user to set and get the position of the motor accurately through PID functionallity

Member Function Documentation

disable()

void rmb::SparkMaxPositionController::disable ( )

overridevirtual

Disables the motor.

Implements rmb::AngularPositionController.

getMaxPosition()

units::radian_t rmb::SparkMaxPositionController::getMaxPosition ( ) const

overridevirtual

Gets the maximum position.

Returns

The maximum position in radians.

Implements rmb::AngularPositionController.

getMinPosition()

units::radian_t rmb::SparkMaxPositionController::getMinPosition ( ) const

overridevirtual

Gets the minimum position.

Returns

The minimum position in radians.

Implements rmb::AngularPositionController.

getPosition()

units::radian_t rmb::SparkMaxPositionController::getPosition ( ) const

overridevirtual

Gets the position of the motor.

Returns

The position of the motor in radians.

Implements rmb::AngularPositionController.

getPower()

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

overridevirtual

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

Implements rmb::AngularPositionController.

getTargetPosition()

units::radian_t rmb::SparkMaxPositionController::getTargetPosition ( ) const

overridevirtual

Gets the target position.

Returns

The target position in radians.

Implements rmb::AngularPositionController.

getTolerance()

units::radian_t rmb::SparkMaxPositionController::getTolerance ( ) const

overridevirtual

Gets a controllers tolerance

Returns

tolerance in radians

Implements rmb::AngularPositionController.

getVelocity()

units::radians_per_second_t rmb::SparkMaxPositionController::getVelocity ( ) const

overridevirtual

Gets the velocity of the motor.

Returns

The velocity of the motor in radians per second.

Implements rmb::AngularPositionController.

setEncoderPosition()

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

overridevirtual

Set the position the motor reports

Parameters

position

The new motor position

Implements rmb::AngularPositionController.

setPosition()

void rmb::SparkMaxPositionController::setPosition ( units::radian_t position )

overridevirtual

Setting the target position.

Parameters

position

The target position in radians.

Implements rmb::AngularPositionController.

setPower()

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

overridevirtual

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

Implements rmb::AngularPositionController.

stop()

void rmb::SparkMaxPositionController::stop ( )

overridevirtual

Stops the motor until setPosition is called again.

Implements rmb::AngularPositionController.

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

• src/rmb/motorcontrol/sparkmax/SparkMaxPositionController.h