frc::SpeedController Class Reference

Interface for speed controlling devices. More...

#include <SpeedController.h>

Inheritance diagram for frc::SpeedController:

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

speed

The 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

isInverted

The 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

output

The voltage to output.

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

• /home/runner/work/allwpilib/allwpilib/wpilibc/src/main/native/include/frc/SpeedController.h