frc::MotorControllerGroup Class Reference

Allows multiple MotorController objects to be linked together. More...

#include <frc/motorcontrol/MotorControllerGroup.h>

Inheritance diagram for frc::MotorControllerGroup:

Public Member Functions
template<class... MotorControllers>
	MotorControllerGroup (MotorController &motorController, MotorControllers &... motorControllers)
	MotorControllerGroup (std::vector< std::reference_wrapper< MotorController > > &&motorControllers)
	MotorControllerGroup (MotorControllerGroup &&)=default
MotorControllerGroup &	operator= (MotorControllerGroup &&)=default
void	Set (double speed) override
	Common interface for setting the speed of a motor controller. More...
void	SetVoltage (units::volt_t output) override
	Sets the voltage output of the MotorController. More...
double	Get () const override
	Common interface for getting the current set speed of a motor controller. More...
void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller. More...
bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller. More...
void	Disable () override
	Common interface for disabling a motor. More...
void	StopMotor () override
	Common interface to stop the motor until Set is called again. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from frc::MotorController
virtual	~MotorController ()=default
virtual void	Set (double speed)=0
	Common interface for setting the speed of a motor controller. More...
virtual void	SetVoltage (units::volt_t output)
	Sets the voltage output of the MotorController. More...
virtual double	Get () const =0
	Common interface for getting the current set speed of a motor controller. More...
virtual void	SetInverted (bool isInverted)=0
	Common interface for inverting direction of a motor controller. More...
virtual bool	GetInverted () const =0
	Common interface for returning the inversion state of a motor controller. More...
virtual void	Disable ()=0
	Common interface for disabling a motor. More...
virtual void	StopMotor ()=0
	Common interface to stop the motor until Set is called again. More...
Public Member Functions inherited from wpi::SendableHelper< MotorControllerGroup >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< MotorControllerGroup >
	SendableHelper ()=default
	~SendableHelper ()

Detailed Description

Allows multiple MotorController objects to be linked together.

Constructor & Destructor Documentation

MotorControllerGroup() [1/3]

template<class... MotorControllers>

frc::MotorControllerGroup::MotorControllerGroup ( MotorController &  motorController, MotorControllers &...  motorControllers  )

explicit

MotorControllerGroup() [2/3]

frc::MotorControllerGroup::MotorControllerGroup ( std::vector< std::reference_wrapper< MotorController > > &&  motorControllers )

explicit

MotorControllerGroup() [3/3]

frc::MotorControllerGroup::MotorControllerGroup ( MotorControllerGroup &&  )

default

Member Function Documentation

Disable()

void frc::MotorControllerGroup::Disable ( )

overridevirtual

Common interface for disabling a motor.

Implements frc::MotorController.

Get()

double frc::MotorControllerGroup::Get ( ) const

overridevirtual

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

Returns

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

Implements frc::MotorController.

GetInverted()

bool frc::MotorControllerGroup::GetInverted ( ) const

overridevirtual

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

Returns

isInverted The state of inversion, true is inverted.

Implements frc::MotorController.

InitSendable()

void frc::MotorControllerGroup::InitSendable ( wpi::SendableBuilder &  builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

MotorControllerGroup & frc::MotorControllerGroup::operator= ( MotorControllerGroup &&  )

default

Set()

void frc::MotorControllerGroup::Set ( double  speed )

overridevirtual

Common interface for setting the speed of a motor controller.

Parameters

speed

The speed to set. Value should be between -1.0 and 1.0.

Implements frc::MotorController.

SetInverted()

void frc::MotorControllerGroup::SetInverted ( bool  isInverted )

overridevirtual

Common interface for inverting direction of a motor controller.

Parameters

isInverted

The state of inversion, true is inverted.

Implements frc::MotorController.

SetVoltage()

void frc::MotorControllerGroup::SetVoltage ( units::volt_t  output )

overridevirtual

Sets the voltage output of the MotorController.

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.

Reimplemented from frc::MotorController.

StopMotor()

void frc::MotorControllerGroup::StopMotor ( )

overridevirtual

Common interface to stop the motor until Set is called again.

Implements frc::MotorController.

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

• frc/motorcontrol/MotorControllerGroup.h
• frc/motorcontrol/MotorControllerGroup.inc