wpi::ExpansionHubMotor Class Reference

This class controls a specific motor and encoder hooked up to an ExpansionHub. More...

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

Public Member Functions
	ExpansionHubMotor (int usbId, int channel)
	Constructs a servo at the requested channel on a specific USB port.
	~ExpansionHubMotor () noexcept
void	SetDutyCycle (double dutyCycle)
	Sets the duty cycle.
void	SetVoltage (wpi::units::volt_t voltage)
	Sets the voltage to run the motor at.
void	SetPositionSetpoint (double setpoint)
	Command the motor to drive to a specific position setpoint.
void	SetVelocitySetpoint (double setpoint)
	Command the motor to drive to a specific velocity setpoint.
void	SetEnabled (bool enabled)
	Sets if the motor output is enabled or not.
void	SetFloatOn0 (bool floatOn0)
	Sets if the motor should float or brake when 0 is commanded.
wpi::units::ampere_t	GetCurrent () const
	Gets the current being pulled by the motor.
void	SetDistancePerCount (double perCount)
	Sets the distance per count of the encoder.
double	GetEncoderVelocity () const
	Gets the current velocity of the motor encoder.
double	GetEncoderPosition () const
	Gets the current position of the motor encoder.
void	SetReversed (bool reversed)
	Sets if the motor and encoder should be reversed.
void	ResetEncoder ()
	Reset the encoder count to 0.
ExpansionHubPidConstants &	GetVelocityPidConstants ()
	Gets the PID constants object for velocity PID.
ExpansionHubPidConstants &	GetPositionPidConstants ()
	Gets the PID constants object for position PID.
bool	IsHubConnected ()
	Gets if the underlying ExpansionHub is connected.
void	Follow (const ExpansionHubMotor &leader)
	Sets this motor to follow another motor on the same hub.

Detailed Description

This class controls a specific motor and encoder hooked up to an ExpansionHub.

Constructor & Destructor Documentation

ExpansionHubMotor()

wpi::ExpansionHubMotor::ExpansionHubMotor	(	int	usbId,
		int	channel )

Constructs a servo at the requested channel on a specific USB port.

Parameters

usbId	The USB port ID the hub is connected to
channel	The motor channel

~ExpansionHubMotor()

wpi::ExpansionHubMotor::~ExpansionHubMotor ( )

noexcept

Member Function Documentation

Follow()

void wpi::ExpansionHubMotor::Follow

(

const ExpansionHubMotor &

leader

)

Sets this motor to follow another motor on the same hub.

This does not support following motors that are also followers. Additionally, the direction of both motors will be the same.

Parameters

leader

The motor to follow

GetCurrent()

wpi::units::ampere_t wpi::ExpansionHubMotor::GetCurrent

(

)

const

Gets the current being pulled by the motor.

Returns

Motor current

GetEncoderPosition()

double wpi::ExpansionHubMotor::GetEncoderPosition

(

)

const

Gets the current position of the motor encoder.

Scaled into distancePerCount units.

Returns

Encoder position

GetEncoderVelocity()

double wpi::ExpansionHubMotor::GetEncoderVelocity

(

)

const

Gets the current velocity of the motor encoder.

Scaled into distancePerCount units.

Returns

Encoder velocity

GetPositionPidConstants()

ExpansionHubPidConstants & wpi::ExpansionHubMotor::GetPositionPidConstants

(

)

Gets the PID constants object for position PID.

Returns

Position PID constants object

GetVelocityPidConstants()

ExpansionHubPidConstants & wpi::ExpansionHubMotor::GetVelocityPidConstants

(

)

Gets the PID constants object for velocity PID.

Returns

Velocity PID constants object

IsHubConnected()

bool wpi::ExpansionHubMotor::IsHubConnected ( )

inline

Gets if the underlying ExpansionHub is connected.

Returns

True if hub is connected, otherwise false

ResetEncoder()

void wpi::ExpansionHubMotor::ResetEncoder

(

)

Reset the encoder count to 0.

SetDistancePerCount()

void wpi::ExpansionHubMotor::SetDistancePerCount

(

double

perCount

)

Sets the distance per count of the encoder.

Used to scale encoder readings.

Parameters

perCount

The distance moved per count of the encoder

SetDutyCycle()

void wpi::ExpansionHubMotor::SetDutyCycle

(

double

dutyCycle

)

Sets the duty cycle.

Parameters

dutyCycle

The duty cycle between -1 and 1 (sign indicates direction).

SetEnabled()

void wpi::ExpansionHubMotor::SetEnabled

(

bool

enabled

)

Sets if the motor output is enabled or not.

Defaults to false.

Parameters

enabled

True to enable, false to disable

SetFloatOn0()

void wpi::ExpansionHubMotor::SetFloatOn0

(

bool

floatOn0

)

Sets if the motor should float or brake when 0 is commanded.

Defaults to false.

Parameters

floatOn0

True to float when commanded 0, false to brake

SetPositionSetpoint()

void wpi::ExpansionHubMotor::SetPositionSetpoint

(

double

setpoint

)

Command the motor to drive to a specific position setpoint.

This value will be scaled by SetDistancePerCount and influenced by the PID constants.

Parameters

setpoint

The position setpoint to drive the motor to

SetReversed()

void wpi::ExpansionHubMotor::SetReversed

(

bool

reversed

)

Sets if the motor and encoder should be reversed.

Parameters

reversed

True to reverse encoder, false otherwise

SetVelocitySetpoint()

void wpi::ExpansionHubMotor::SetVelocitySetpoint

(

double

setpoint

)

Command the motor to drive to a specific velocity setpoint.

This value will be scaled by SetDistancePerCount and influenced by the PID constants.

Parameters

setpoint

The velocity setpoint to drive the motor to

SetVoltage()

void wpi::ExpansionHubMotor::SetVoltage

(

wpi::units::volt_t

voltage

)

Sets the voltage to run the motor at.

This value will be continously scaled to match the input voltage.

Parameters

voltage

The voltage to drive the motor at

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

• wpi/hardware/expansionhub/ExpansionHubMotor.hpp