WPILibC++  2020.3.2-60-g3011ebe
frc::SpeedController Class Referenceabstract

Interface for speed controlling devices. More...

#include <SpeedController.h>

Inheritance diagram for frc::SpeedController:
frc::PIDOutput frc::NidecBrushless frc::PWMSpeedController frc::SpeedControllerGroup frc::DMC60 frc::Jaguar frc::PWMSparkMax frc::PWMTalonFX frc::PWMTalonSRX frc::PWMVenom frc::PWMVictorSPX frc::SD540 frc::Spark frc::Talon frc::Victor frc::VictorSP

Public Member Functions

virtual void Set (double speed)=0
 Common interface for setting the speed of a speed controller. More...
 
virtual void SetVoltage (units::volt_t output)
 Sets the voltage output of the SpeedController. More...
 
virtual double Get () const =0
 Common interface for getting the current set speed of a speed controller. More...
 
virtual void SetInverted (bool isInverted)=0
 Common interface for inverting direction of a speed controller. More...
 
virtual bool GetInverted () const =0
 Common interface for returning the inversion state of a speed controller. More...
 
virtual void Disable ()=0
 Common interface for disabling a motor.
 
virtual void StopMotor ()=0
 Common interface to stop the motor until Set is called again.
 
- Public Member Functions inherited from frc::PIDOutput
virtual void PIDWrite (double output)=0
 

Detailed Description

Interface for speed controlling devices.

Member Function Documentation

◆ Get()

virtual double frc::SpeedController::Get ( ) const
pure virtual

Common interface for getting the current set speed of a speed controller.

Returns
The current set speed. Value is between -1.0 and 1.0.

Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.

◆ GetInverted()

virtual bool frc::SpeedController::GetInverted ( ) const
pure virtual

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

Returns
isInverted The state of inversion, true is inverted.

Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.

◆ Set()

virtual void frc::SpeedController::Set ( double  speed)
pure virtual

Common interface for setting the speed of a speed controller.

Parameters
speedThe speed to set. Value should be between -1.0 and 1.0.

Implemented in frc::PWMSpeedController, frc::NidecBrushless, and frc::SpeedControllerGroup.

◆ SetInverted()

virtual void frc::SpeedController::SetInverted ( bool  isInverted)
pure virtual

Common interface for inverting direction of a speed controller.

Parameters
isInvertedThe state of inversion, true is inverted.

Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.

◆ SetVoltage()

virtual void frc::SpeedController::SetVoltage ( units::volt_t  output)
virtual

Sets the voltage output of the SpeedController.

Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function must be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Parameters
outputThe voltage to output.

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