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frc::NidecBrushless Class Reference

Nidec Brushless Motor. More...

#include <NidecBrushless.h>

Inheritance diagram for frc::NidecBrushless:
frc::SendableBase frc::SpeedController frc::MotorSafety frc::Sendable frc::PIDOutput frc::ErrorBase

Public Member Functions

 NidecBrushless (int pwmChannel, int dioChannel)
 Constructor. More...
 
 NidecBrushless (NidecBrushless &&)=default
 
NidecBrushlessoperator= (NidecBrushless &&)=default
 
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 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 StopMotor () override
 
void GetDescription (wpi::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::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
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
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
- Public Member Functions inherited from frc::MotorSafety
 MotorSafety (MotorSafety &&rhs)
 
MotorSafetyoperator= (MotorSafety &&rhs)
 
void Feed ()
 Feed the motor safety object. More...
 
void SetExpiration (double expirationTime)
 Set the expiration time for the corresponding motor safety object. More...
 
double GetExpiration () const
 Retrieve the timeout value for the corresponding motor safety object. More...
 
bool IsAlive () const
 Determine if the motor is still operating or has timed out. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
bool IsSafetyEnabled () const
 Return the state of the motor safety enabled flag. More...
 
void Check ()
 Check if this motor has exceeded its timeout. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
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...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::MotorSafety
static void CheckMotors ()
 Check the motors to see if any have timed out. 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 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...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

Nidec Brushless Motor.

Constructor & Destructor Documentation

frc::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 frc::NidecBrushless::Disable ( )
overridevirtual

Disable the motor.

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

Implements frc::SpeedController.

void frc::NidecBrushless::Enable ( )

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

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

double frc::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 frc::NidecBrushless::GetChannel ( ) const

Gets the channel number associated with the object.

Returns
The channel number.
bool frc::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 frc::NidecBrushless::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

void frc::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 frc::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 frc::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.


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