WPILibC++
2021.2.2
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Interface for speed controlling devices. More...
#include <SpeedController.h>
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. | |
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virtual void | PIDWrite (double output)=0 |
Interface for speed controlling devices.
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pure virtual |
Common interface for getting the current set speed of a speed controller.
Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.
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pure virtual |
Common interface for returning the inversion state of a speed controller.
Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.
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pure virtual |
Common interface for setting the speed of a speed controller.
speed | The speed to set. Value should be between -1.0 and 1.0. |
Implemented in frc::PWMSpeedController, frc::NidecBrushless, and frc::SpeedControllerGroup.
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pure virtual |
Common interface for inverting direction of a speed controller.
isInverted | The state of inversion, true is inverted. |
Implemented in frc::NidecBrushless, frc::PWMSpeedController, and frc::SpeedControllerGroup.
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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."
output | The voltage to output. |