rmb::SparkMaxVelocityController Class Reference

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

Inheritance diagram for rmb::SparkMaxVelocityController:

Classes
struct	CreateInfo

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

Public Member Functions
	SparkMaxVelocityController (SparkMaxVelocityController &&)=delete
	SparkMaxVelocityController (const SparkMaxVelocityController &)=delete
	SparkMaxVelocityController (const CreateInfo &createInfo)
rev::CANSparkMax &	getMotor ()
rev::SparkMaxPIDController &	getPIDCOntroller ()
std::unique_ptr< rev::MotorFeedbackSensor > &	getFeedbackSensor ()
void	setVelocity (units::radians_per_second_t velocity) override
units::radians_per_second_t	getTargetVelocity () const override
virtual void	setPower (double power) override
virtual double	getPower () const override
virtual void	disable () override
virtual 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
virtual units::radians_per_second_t	getTolerance () const override
Public Member Functions inherited from rmb::AngularVelocityController
virtual units::radians_per_second_t	getError () const
virtual bool	atTarget () const

Detailed Description

A wrapper around the SparkMax motorcontroller so that it can complies with the AngularVelocityFeedbackController interface.

Member Function Documentation

disable()

virtual void rmb::SparkMaxVelocityController::disable ( )

overridevirtual

Common interface for disabling a mechanism.

Implements rmb::AngularVelocityController.

getPosition()

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

overridevirtual

Gets the angular position of an motor.

Returns

The position of the motor in radians.

Implements rmb::AngularVelocityController.

getPower()

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

overridevirtual

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

Implements rmb::AngularVelocityController.

getTargetVelocity()

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

overridevirtual

Gets the target angular velocity.

Returns

The target angular velocity in radians per second.

Implements rmb::AngularVelocityController.

getTolerance()

virtual units::radians_per_second_t rmb::SparkMaxVelocityController::getTolerance ( ) const

overridevirtual

Gets the motor's tolerance.

Returns

the motor's tolerance in radians per second.

Implements rmb::AngularVelocityController.

getVelocity()

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

overridevirtual

Gets the angular velocity of the motor.

Returns

The velocity of the motor in radians per second.

Implements rmb::AngularVelocityController.

setEncoderPosition()

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

overridevirtual

Sets the encoder's reported position

Parameters

position

The position to reset the reference to. Defaults to 0

Implements rmb::AngularVelocityController.

setPower()

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

overridevirtual

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

Implements rmb::AngularVelocityController.

setVelocity()

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

overridevirtual

Sets the target angular velocity.

Parameters

velocity

The target angular velocity in radians per second.

Implements rmb::AngularVelocityController.

stop()

virtual void rmb::SparkMaxVelocityController::stop ( )

overridevirtual

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

Implements rmb::AngularVelocityController.

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

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