wpi::ExpansionHub Class Reference

This class controls a REV ExpansionHub plugged in over USB to Systemcore. More...

#include <wpi/hardware/expansionhub/ExpansionHub.hpp>

Public Member Functions
	ExpansionHub (int usbId)
	Constructs a new ExpansionHub for a given USB ID.
	~ExpansionHub () noexcept=default
ExpansionHubServo	MakeServo (int channel)
	Constructs a servo at the requested channel on this hub.
ExpansionHubMotor	MakeMotor (int channel)
	Constructs a motor at the requested channel on this hub.
bool	IsHubConnected () const
	Gets if the hub is currently connected over USB.
int	GetUsbId () const
	Gets the USB ID of this hub.

Static Public Attributes
static constexpr int	NumUsbPorts = 4
static constexpr int	NumServoPorts = 6
static constexpr int	NumMotorPorts = 4

Friends
class	ExpansionHubServo
class	ExpansionHubMotor
class	DataStore

Detailed Description

This class controls a REV ExpansionHub plugged in over USB to Systemcore.

Constructor & Destructor Documentation

ExpansionHub()

wpi::ExpansionHub::ExpansionHub ( int usbId )

explicit

Constructs a new ExpansionHub for a given USB ID.

Multiple instances can be constructed, but will point to the same backing object with a ref count.

Parameters

usbId

The USB Port ID the hub is plugged into.

~ExpansionHub()

wpi::ExpansionHub::~ExpansionHub ( )

defaultnoexcept

Member Function Documentation

GetUsbId()

int wpi::ExpansionHub::GetUsbId ( ) const

inline

Gets the USB ID of this hub.

Returns

The USB ID

IsHubConnected()

bool wpi::ExpansionHub::IsHubConnected

(

)

const

Gets if the hub is currently connected over USB.

Returns

True if hub connection, otherwise false

MakeMotor()

ExpansionHubMotor wpi::ExpansionHub::MakeMotor

(

int

channel

)

Constructs a motor at the requested channel on this hub.

Only a single instance of each motor per hub can be constructed at a time.

Parameters

channel

The motor channel

Returns

Motor object

MakeServo()

ExpansionHubServo wpi::ExpansionHub::MakeServo

(

int

channel

)

Constructs a servo at the requested channel on this hub.

Only a single instance of each servo per hub can be constructed at a time.

Parameters

channel

The servo channel

Returns

Servo object

Friends And Related Symbol Documentation

DataStore

friend class DataStore

friend

ExpansionHubMotor

friend class ExpansionHubMotor

friend

ExpansionHubServo

friend class ExpansionHubServo

friend

Member Data Documentation

NumMotorPorts

int wpi::ExpansionHub::NumMotorPorts = 4

staticconstexpr

NumServoPorts

int wpi::ExpansionHub::NumServoPorts = 6

staticconstexpr

NumUsbPorts

int wpi::ExpansionHub::NumUsbPorts = 4

staticconstexpr

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

• wpi/hardware/expansionhub/ExpansionHub.hpp