WPILibC++  unspecified
frc::NidecBrushless Class Reference

Nidec Brushless Motor. More...

#include <NidecBrushless.h>

Inheritance diagram for frc::NidecBrushless:
Collaboration diagram for frc::NidecBrushless:

Public Member Functions

 NidecBrushless (int pwmChannel, int dioChannel)
 Constructor. More...
 
void Set (double speed) override
 Set the PWM value. More...
 
double Get () const override
 Get the recently set value of the PWM. More...
 
void SetInverted (bool isInverted) override
 Common interface for inverting direction of a speed controller. More...
 
bool GetInverted () const override
 Common interface for returning the inversion state of a speed controller. More...
 
void Disable () override
 Disable the motor. More...
 
void StopMotor () override
 Stop the motor. More...
 
void Enable ()
 Re-enable the motor after Disable() has been called. More...
 
void PIDWrite (double output) override
 Write out the PID value as seen in the PIDOutput base object. More...
 
void SetExpiration (double timeout) override
 Set the safety expiration time. More...
 
double GetExpiration () const override
 Return the safety expiration time. More...
 
bool IsAlive () const override
 Check if the motor is currently alive or stopped due to a timeout. More...
 
void SetSafetyEnabled (bool enabled) override
 
bool IsSafetyEnabled () const override
 Check if motor safety is enabled. More...
 
void GetDescription (llvm::raw_ostream &desc) const override
 
int GetChannel () const
 Gets the channel number associated with the object. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const llvm::Twine &errorMessage, Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 ~SendableBase () override
 Free the resources used by this object.
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const llvm::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const llvm::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
void SetName (const llvm::Twine &subsystem, const llvm::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const llvm::Twine &errorMessage, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const llvm::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const llvm::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static wpi::mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Nidec Brushless Motor.

Constructor & Destructor Documentation

NidecBrushless::NidecBrushless ( int  pwmChannel,
int  dioChannel 
)

Constructor.

Parameters
pwmChannelThe PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port.
dioChannelThe DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port.

Member Function Documentation

void NidecBrushless::Disable ( )
overridevirtual

Disable the motor.

The Enable() function must be called to re-enable the motor.

Implements frc::SpeedController.

void NidecBrushless::Enable ( )

Re-enable the motor after Disable() has been called.

The Set() function must be called to set a new motor speed.

double NidecBrushless::Get ( ) const
overridevirtual

Get the recently set value of the PWM.

Returns
The most recently set value for the PWM between -1.0 and 1.0.

Implements frc::SpeedController.

int NidecBrushless::GetChannel ( ) const

Gets the channel number associated with the object.

Returns
The channel number.
double NidecBrushless::GetExpiration ( ) const
overridevirtual

Return the safety expiration time.

Returns
The expiration time value.

Implements frc::MotorSafety.

bool NidecBrushless::GetInverted ( ) const
overridevirtual

Common interface for returning the inversion state of a speed controller.

Returns
isInverted The state of inversion, true is inverted.

Implements frc::SpeedController.

void NidecBrushless::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

bool NidecBrushless::IsAlive ( ) const
overridevirtual

Check if the motor is currently alive or stopped due to a timeout.

Returns
a bool value that is true if the motor has NOT timed out and should still be running.

Implements frc::MotorSafety.

bool NidecBrushless::IsSafetyEnabled ( ) const
overridevirtual

Check if motor safety is enabled.

Returns
True if motor safety is enforced for this object

Implements frc::MotorSafety.

void NidecBrushless::PIDWrite ( double  output)
overridevirtual

Write out the PID value as seen in the PIDOutput base object.

Parameters
outputWrite out the PWM value as was found in the PIDController

Implements frc::PIDOutput.

void NidecBrushless::Set ( double  speed)
overridevirtual

Set the PWM value.

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Parameters
speedThe speed value between -1.0 and 1.0 to set.

Implements frc::SpeedController.

void NidecBrushless::SetExpiration ( double  timeout)
overridevirtual

Set the safety expiration time.

Parameters
timeoutThe timeout (in seconds) for this motor object

Implements frc::MotorSafety.

void NidecBrushless::SetInverted ( bool  isInverted)
overridevirtual

Common interface for inverting direction of a speed controller.

Parameters
isInvertedThe state of inversion, true is inverted.

Implements frc::SpeedController.

void NidecBrushless::StopMotor ( )
overridevirtual

Stop the motor.

This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to stop it from running. Calling Set() will re-enable the motor.

Implements frc::MotorSafety.


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