rmb::TalonFXPositionController Class Reference

Inheritance diagram for rmb::TalonFXPositionController:

Classes
struct	CreateInfo

Public Member Functions
	TalonFXPositionController (const CreateInfo &createInfo)
void	setPosition (units::radian_t position) override
void	setPower (double power) override
virtual double	getPower () const override
units::radian_t	getTargetPosition () 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
void	follow (const TalonFXPositionController &parentController, bool inverted)
Public Member Functions inherited from rmb::AngularPositionController
virtual units::radian_t	getError () const
virtual bool	atTarget () const

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

Constructor & Destructor Documentation

TalonFXPositionController()

rmb::TalonFXPositionController::TalonFXPositionController

(

const CreateInfo &

createInfo

)

Creates a TalonFX position TalonFXPositionController

Parameters

createInfo

CreateInfo struct used to initialize the position controller

Member Function Documentation

disable()

void rmb::TalonFXPositionController::disable ( )

overridevirtual

Disables the motor

Implements rmb::AngularPositionController.

follow()

void rmb::TalonFXPositionController::follow	(	const TalonFXPositionController &	parentController,
		bool	inverted )

Match duty cycle of the given controller

Parameters

inverted

Use the inverted form of the parent's duty cycle

getMaxPosition()

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

overridevirtual

Get the maximum position of the motor

Returns

The maximum position of the motor in a units::angle value

Implements rmb::AngularPositionController.

getMinPosition()

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

overridevirtual

Get the minium position of the motor

Returns

The minimum position in a units::angle value

Implements rmb::AngularPositionController.

getPosition()

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

overridevirtual

Get the current position of the motor

Returns

The current position of the motor as measured by the selected sensor

Implements rmb::AngularPositionController.

getPower()

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

overridevirtual

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

Implements rmb::AngularPositionController.

getTargetPosition()

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

overridevirtual

Queries the Phoenix API for the current set point of the motor

Implements rmb::AngularPositionController.

getTolerance()

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

inlineoverridevirtual

Get the closed loop position tolerance. @warn Tolerance is unimplemented and will return 0

Returns

The tolerance in a units::angle container

Implements rmb::AngularPositionController.

getVelocity()

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

overridevirtual

Get the current velocity of the motor

Returns

The velocity of the motor in a units::angular_velocity container

Implements rmb::AngularPositionController.

setEncoderPosition()

void rmb::TalonFXPositionController::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::AngularPositionController.

setPosition()

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

overridevirtual

Sets a closed loop position setpoint on the TalonFX to the given position

Parameters

position

The position setpoint

Implements rmb::AngularPositionController.

setPower()

void rmb::TalonFXPositionController::setPower ( double power )

overridevirtual

Sets open loop power on the motor

Parameters

power

The power target supplied to the motor. Must be in range [0.0, 1.0]

Implements rmb::AngularPositionController.

stop()

void rmb::TalonFXPositionController::stop ( )

overridevirtual

Stops the motor

Implements rmb::AngularPositionController.

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

• src/rmb/motorcontrol/Talon/TalonFXPositionController.h