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| PWM (int channel) |
| Allocate a PWM given a channel number. More...
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| ~PWM () override |
| Free the PWM channel. More...
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| PWM (PWM &&rhs) |
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PWM & | operator= (PWM &&rhs) |
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void | StopMotor () override |
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void | GetDescription (wpi::raw_ostream &desc) const override |
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virtual void | SetRaw (uint16_t value) |
| Set the PWM value directly to the hardware. More...
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virtual uint16_t | GetRaw () const |
| Get the PWM value directly from the hardware. More...
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virtual void | SetPosition (double pos) |
| Set the PWM value based on a position. More...
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virtual double | GetPosition () const |
| Get the PWM value in terms of a position. More...
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virtual void | SetSpeed (double speed) |
| Set the PWM value based on a speed. More...
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virtual double | GetSpeed () const |
| Get the PWM value in terms of speed. More...
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virtual void | SetDisabled () |
| Temporarily disables the PWM output. More...
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void | SetPeriodMultiplier (PeriodMultiplier mult) |
| Slow down the PWM signal for old devices. More...
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void | SetZeroLatch () |
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void | EnableDeadbandElimination (bool eliminateDeadband) |
| Optionally eliminate the deadband from a speed controller. More...
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void | SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min) |
| Set the bounds on the PWM pulse widths. More...
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void | SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min) |
| Set the bounds on the PWM values. More...
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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...
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int | GetChannel () const |
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| MotorSafety (MotorSafety &&rhs) |
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MotorSafety & | operator= (MotorSafety &&rhs) |
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void | Feed () |
| Feed the motor safety object. More...
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void | SetExpiration (double expirationTime) |
| Set the expiration time for the corresponding motor safety object. More...
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double | GetExpiration () const |
| Retrieve the timeout value for the corresponding motor safety object. More...
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bool | IsAlive () const |
| Determine if the motor is still operating or has timed out. More...
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void | SetSafetyEnabled (bool enabled) |
| Enable/disable motor safety for this device. More...
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bool | IsSafetyEnabled () const |
| Return the state of the motor safety enabled flag. More...
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| ErrorBase (ErrorBase &&)=default |
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ErrorBase & | operator= (ErrorBase &&)=default |
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virtual Error & | GetError () |
| Retrieve the current error. More...
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virtual const Error & | GetError () const |
| Retrieve the current error. More...
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virtual void | ClearError () const |
| Clear the current error information associated with this sensor.
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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...
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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...
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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...
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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...
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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...
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virtual void | CloneError (const ErrorBase &rhs) const |
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virtual bool | StatusIsFatal () const |
| Check if the current error code represents a fatal error. More...
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| SendableBase (bool addLiveWindow=true) |
| Creates an instance of the sensor base. More...
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| SendableBase (SendableBase &&rhs) |
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SendableBase & | operator= (SendableBase &&rhs) |
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std::string | GetName () const final |
| Gets the name of this Sendable object. More...
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void | SetName (const wpi::Twine &name) final |
| Sets the name of this Sendable object. More...
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std::string | GetSubsystem () const final |
| Gets the subsystem name of this Sendable object. More...
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void | SetSubsystem (const wpi::Twine &subsystem) final |
| Sets the subsystem name of this Sendable object. More...
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| Sendable (Sendable &&)=default |
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Sendable & | operator= (Sendable &&)=default |
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void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
| Sets both the subsystem name and device name of this Sendable object. More...
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Class implements the PWM generation in the FPGA.
The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped to the hardware dependent values, in this case 0-2000 for the FPGA. Changes are immediately sent to the FPGA, and the update occurs at the next FPGA cycle (5.005ms). There is no delay.
As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as follows:
- 2000 = maximum pulse width
- 1999 to 1001 = linear scaling from "full forward" to "center"
- 1000 = center value
- 999 to 2 = linear scaling from "center" to "full reverse"
- 1 = minimum pulse width (currently .5ms)
- 0 = disabled (i.e. PWM output is held low)