Common base class for all PWM Motor Controllers. More...

#include <frc/motorcontrol/PWMMotorController.h>

Inheritance diagram for frc::PWMMotorController:

Public Member Functions
	PWMMotorController (PWMMotorController &&)=default

PWMMotorController &	operator= (PWMMotorController &&)=default

void	Set (double value) override
	Set the PWM value.

void	SetVoltage (units::volt_t output) override
	Sets the voltage output of the PWMMotorController.

double	Get () const override
	Get the recently set value of the PWM.

virtual units::volt_t	GetVoltage () const
	Gets the voltage output of the motor controller, nominally between -12 V and 12 V.

void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller.

bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller.

void	Disable () override
	Common interface for disabling a motor.

void	StopMotor () override
	Common interface to stop the motor until Set is called again.

std::string	GetDescription () const override
	Returns a description to print when an error occurs.

int	GetChannel () const

void	EnableDeadbandElimination (bool eliminateDeadband)
	Optionally eliminate the deadband from a motor controller.

void	AddFollower (PWMMotorController &follower)
	Make the given PWM motor controller follow the output of this one.

template<std::derived_from< PWMMotorController > T>
void	AddFollower (T &&follower)
	Make the given PWM motor controller follow the output of this one.

Public Member Functions inherited from frc::MotorController
virtual	~MotorController ()=default

Public Member Functions inherited from frc::MotorSafety
	MotorSafety ()

virtual	~MotorSafety ()

	MotorSafety (MotorSafety &&rhs)

MotorSafety &	operator= (MotorSafety &&rhs)

void	Feed ()
	Feed the motor safety object.

void	SetExpiration (units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object.

units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object.

bool	IsAlive () const
	Determine if the motor is still operating or has timed out.

void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device.

bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag.

void	Check ()
	Check if this motor has exceeded its timeout.

Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default

Public Member Functions inherited from wpi::SendableHelper< PWMMotorController >
constexpr	SendableHelper (const SendableHelper &rhs)=default

constexpr	SendableHelper (SendableHelper &&rhs)

constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
	PWMMotorController (std::string_view name, int channel)
	Constructor for a PWM Motor Controller connected via PWM.

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.

void	SetSpeed (double speed)

double	GetSpeed () const

void	SetBounds (units::microsecond_t maxPwm, units::microsecond_t deadbandMaxPwm, units::microsecond_t centerPwm, units::microsecond_t deadbandMinPwm, units::microsecond_t minPwm)

Protected Member Functions inherited from wpi::SendableHelper< PWMMotorController >
constexpr	SendableHelper ()=default

constexpr	~SendableHelper ()

Protected Attributes
PWM	m_pwm
	PWM instances for motor controller.

Additional Inherited Members
Static Public Member Functions inherited from frc::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out.

Detailed Description

Common base class for all PWM Motor Controllers.

Constructor & Destructor Documentation

◆ PWMMotorController() [1/2]

frc::PWMMotorController::PWMMotorController ( PWMMotorController && )

default

◆ PWMMotorController() [2/2]

frc::PWMMotorController::PWMMotorController	(	std::string_view	name,
		int	channel )

protected

Constructor for a PWM Motor Controller connected via PWM.

Parameters

name	Name to use for SendableRegistry
channel	The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are on the MXP port

Member Function Documentation

◆ AddFollower() [1/2]

void frc::PWMMotorController::AddFollower ( PWMMotorController & follower )

Make the given PWM motor controller follow the output of this one.

Parameters

follower The motor controller follower.

◆ AddFollower() [2/2]

template<std::derived_from< PWMMotorController > T>

void frc::PWMMotorController::AddFollower ( T && follower )

inline

Make the given PWM motor controller follow the output of this one.

Parameters

follower The motor controller follower.

◆ Disable()

void frc::PWMMotorController::Disable ( )

overridevirtual

Common interface for disabling a motor.

Implements frc::MotorController.

◆ EnableDeadbandElimination()

void frc::PWMMotorController::EnableDeadbandElimination ( bool eliminateDeadband )

Optionally eliminate the deadband from a motor controller.

Parameters

eliminateDeadband If true, set the motor curve on the motor controller to eliminate the deadband in the middle of the range. Otherwise, keep the full range without modifying any values.

◆ Get()

double frc::PWMMotorController::Get ( ) const

overridevirtual

Get the recently set value of the PWM.

This value is affected by the inversion property. If you want the value that is sent directly to the MotorController, use PWM::GetSpeed() instead.

Returns: The most recently set value for the PWM between -1.0 and 1.0.

Implements frc::MotorController.

◆ GetChannel()

int frc::PWMMotorController::GetChannel ( ) const

◆ GetDescription()

std::string frc::PWMMotorController::GetDescription ( ) const

overridevirtual

Returns a description to print when an error occurs.

Returns: Description to print when an error occurs.

Implements frc::MotorSafety.

◆ GetInverted()

bool frc::PWMMotorController::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.

◆ GetSpeed()

double frc::PWMMotorController::GetSpeed ( ) const

protected

◆ GetVoltage()

virtual units::volt_t frc::PWMMotorController::GetVoltage ( ) const

virtual

Gets the voltage output of the motor controller, nominally between -12 V and 12 V.

Returns: The voltage of the motor controller, nominally between -12 V and 12 V.

◆ InitSendable()

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

overrideprotectedvirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ operator=()

PWMMotorController & frc::PWMMotorController::operator= ( PWMMotorController && )

default

◆ Set()

void frc::PWMMotorController::Set ( double value )

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

value The speed value between -1.0 and 1.0 to set.

Implements frc::MotorController.

◆ SetBounds()

void frc::PWMMotorController::SetBounds	(	units::microsecond_t	maxPwm,
		units::microsecond_t	deadbandMaxPwm,
		units::microsecond_t	centerPwm,
		units::microsecond_t	deadbandMinPwm,
		units::microsecond_t	minPwm )

protected

◆ SetInverted()

void frc::PWMMotorController::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.

◆ SetSpeed()

void frc::PWMMotorController::SetSpeed ( double speed )

protected

◆ SetVoltage()

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

overridevirtual

Sets the voltage output of the PWMMotorController.

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::PWMMotorController::StopMotor ( )

overridevirtual

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

Implements frc::MotorController.

Member Data Documentation

◆ m_pwm

PWM frc::PWMMotorController::m_pwm

protected

PWM instances for motor controller.

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

frc/motorcontrol/PWMMotorController.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PWMMotorController() [1/2]

◆ PWMMotorController() [2/2]

Member Function Documentation

◆ AddFollower() [1/2]

◆ AddFollower() [2/2]

◆ Disable()

◆ EnableDeadbandElimination()

◆ Get()

◆ GetChannel()

◆ GetDescription()

◆ GetInverted()

◆ GetSpeed()

◆ GetVoltage()

◆ InitSendable()

◆ operator=()

◆ Set()

◆ SetBounds()

◆ SetInverted()

◆ SetSpeed()

◆ SetVoltage()

◆ StopMotor()

Member Data Documentation

◆ m_pwm