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Victor Class Reference

Vex Robotics Victor 888 Speed Controller. More...

#include <Victor.h>

Inheritance diagram for Victor:
SafePWM SpeedController PWM MotorSafety PIDOutput SensorBase ITableListener LiveWindowSendable ErrorBase Sendable

Public Member Functions

 Victor (uint32_t channel)
 Constructor for a Victor. More...
 
virtual void Set (float value, uint8_t syncGroup=0) override
 Set the PWM value. More...
 
virtual float Get () const override
 Get the recently set value of the PWM. More...
 
virtual void Disable () override
 Common interface for disabling a motor.
 
virtual void StopMotor () override
 Common interface to stop the motor until Set is called again.
 
virtual void PIDWrite (float output) override
 Write out the PID value as seen in the PIDOutput base object. More...
 
virtual void SetInverted (bool isInverted) override
 Common interface for inverting direction of a speed controller. More...
 
virtual bool GetInverted () const override
 Common interface for the inverting direction of a speed controller. More...
 
- Public Member Functions inherited from SafePWM
 SafePWM (uint32_t channel)
 Constructor for a SafePWM object taking a channel number. More...
 
void SetExpiration (float timeout)
 Set the expiration time for the PWM object. More...
 
float 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 StopMotor ()
 Stop the motor associated with this PWM object. More...
 
bool IsSafetyEnabled () const
 Check if motor safety is enabled for this object. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device Turn on and off the motor safety option for this PWM object. More...
 
void GetDescription (std::ostringstream &desc) const
 
virtual void SetSpeed (float speed)
 Feed the MotorSafety timer when setting the speed. More...
 
- Public Member Functions inherited from PWM
 PWM (uint32_t channel)
 Allocate a PWM given a channel number. More...
 
virtual ~PWM ()
 Free the PWM channel. More...
 
virtual void SetRaw (unsigned short value)
 Set the PWM value directly to the hardware. More...
 
virtual unsigned short GetRaw () const
 Get the PWM value directly from the hardware. 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 (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
 Set the bounds on the PWM values. More...
 
void SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
 Set the bounds on the PWM pulse widths. More...
 
uint32_t GetChannel () const
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t 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, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t 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 ITableListener
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Additional Inherited Members

- Public Types inherited from PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 
- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from PWM
virtual void SetPosition (float pos)
 Set the PWM value based on a position. More...
 
virtual float GetPosition () const
 Get the PWM value in terms of a position. More...
 
virtual float GetSpeed () const
 Get the PWM value in terms of speed. More...
 
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 Called when a key-value pair is changed in a ITable. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from PWM
bool m_eliminateDeadband
 
int32_t m_maxPwm
 
int32_t m_deadbandMaxPwm
 
int32_t m_centerPwm
 
int32_t m_deadbandMinPwm
 
int32_t m_minPwm
 
std::shared_ptr< ITablem_table
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from PWM
static constexpr float kDefaultPwmPeriod = 5.05
 kDefaultPwmPeriod is in ms More...
 
static constexpr float kDefaultPwmCenter = 1.5
 kDefaultPwmCenter is the PWM range center in ms
 
static const int32_t kDefaultPwmStepsDown = 1000
 kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
 
static const int32_t kPwmDisabled = 0
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Vex Robotics Victor 888 Speed Controller.

The Vex Robotics Victor 884 Speed Controller can also be used with this class but may need to be calibrated per the Victor 884 user manual.

Constructor & Destructor Documentation

Victor::Victor ( uint32_t  channel)
explicit

Constructor for a Victor.

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

Member Function Documentation

float Victor::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 SpeedController.

bool Victor::GetInverted ( ) const
overridevirtual

Common interface for the inverting direction of a speed controller.

Returns
isInverted The state of inversion, true is inverted.

Implements SpeedController.

void Victor::PIDWrite ( float  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 PIDOutput.

void Victor::Set ( float  speed,
uint8_t  syncGroup = 0 
)
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.
syncGroupUnused interface.

Implements SpeedController.

void Victor::SetInverted ( bool  isInverted)
overridevirtual

Common interface for inverting direction of a speed controller.

Parameters
isInvertedThe state of inversion, true is inverted.

Implements SpeedController.


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