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frc::PWMSpeedController Class Reference

Common base class for all PWM Speed Controllers. More...

#include <PWMSpeedController.h>

Inheritance diagram for frc::PWMSpeedController:
frc::SafePWM frc::SpeedController frc::PWM frc::MotorSafety frc::PIDOutput frc::ErrorBase frc::SendableBase frc::Sendable frc::DMC60 frc::Jaguar frc::PWMTalonSRX frc::PWMVictorSPX frc::SD540 frc::Spark frc::Talon frc::Victor frc::VictorSP

Public Member Functions

void Set (double value) 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
 Common interface for disabling a motor.
 
void StopMotor () override
 Stop the motor associated with this PWM object. More...
 
void PIDWrite (double output) override
 Write out the PID value as seen in the PIDOutput base object. More...
 
- Public Member Functions inherited from frc::SafePWM
 SafePWM (int channel)
 Constructor for a SafePWM object taking a channel number. More...
 
void SetExpiration (double timeout)
 Set the expiration time for the PWM object. More...
 
double GetExpiration () const
 Return the expiration time for the PWM object. More...
 
bool IsAlive () const
 Check if the PWM object is currently alive or stopped due to a timeout. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
bool IsSafetyEnabled () const
 Check if motor safety is enabled for this object. More...
 
void GetDescription (wpi::raw_ostream &desc) const
 
virtual void SetSpeed (double speed)
 Feed the MotorSafety timer when setting the speed. More...
 
- Public Member Functions inherited from frc::PWM
 PWM (int channel)
 Allocate a PWM given a channel number. More...
 
 ~PWM () override
 Free the PWM channel. More...
 
virtual void SetRaw (uint16_t value)
 Set the PWM value directly to the hardware. More...
 
virtual uint16_t GetRaw () const
 Get the PWM value directly from the hardware. More...
 
virtual void SetPosition (double pos)
 Set the PWM value based on a position. More...
 
virtual double GetPosition () const
 Get the PWM value in terms of a position. More...
 
virtual double GetSpeed () const
 Get the PWM value in terms of speed. More...
 
virtual void SetDisabled ()
 Temporarily disables the PWM output. More...
 
void SetPeriodMultiplier (PeriodMultiplier mult)
 Slow down the PWM signal for old devices. More...
 
void SetZeroLatch ()
 
void EnableDeadbandElimination (bool eliminateDeadband)
 Optionally eliminate the deadband from a speed controller. More...
 
void SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
 Set the bounds on the PWM pulse widths. More...
 
void SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min)
 Set the bounds on the PWM values. More...
 
void GetRawBounds (int32_t *max, int32_t *deadbandMax, int32_t *center, int32_t *deadbandMin, int32_t *min)
 Get the bounds on the PWM values. More...
 
int GetChannel () const
 
- 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
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
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...
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::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 wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Protected Member Functions

 PWMSpeedController (int channel)
 Constructor for a PWM Speed Controller connected via PWM. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- 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 wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 

Additional Inherited Members

- Public Types inherited from frc::PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 Represents the amount to multiply the minimum servo-pulse pwm period by. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

Common base class for all PWM Speed Controllers.

Constructor & Destructor Documentation

frc::PWMSpeedController::PWMSpeedController ( int  channel)
explicitprotected

Constructor for a PWM Speed Controller connected via PWM.

Parameters
channelThe PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

Member Function Documentation

double frc::PWMSpeedController::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.

bool frc::PWMSpeedController::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 frc::PWMSpeedController::InitSendable ( SendableBuilder builder)
overrideprotectedvirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Reimplemented from frc::PWM.

void frc::PWMSpeedController::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 frc::PWMSpeedController::Set ( double  value)
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 frc::PWMSpeedController::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 frc::PWMSpeedController::StopMotor ( )
overridevirtual

Stop the motor associated with this PWM object.

This is called by the MotorSafetyHelper object when it has a timeout for this PWM and needs to stop it from running.

Reimplemented from frc::SafePWM.


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