wpi::ExpansionHubPositionConstants Class Reference

This class contains feedback and feedforward constants for an ExpansionHub motor. More...

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

Public Member Functions
ExpansionHubPositionConstants &	SetPID (double p, double i, double d)
	Sets the PID Controller gain parameters.
ExpansionHubPositionConstants &	SetS (double s)
	Sets the feed forward gains to the specified values.
ExpansionHubPositionConstants &	EnableContinuousInput (double minimumInput, double maximumInput)
	Enables continuous input.
ExpansionHubPositionConstants &	DisableContinuousInput ()
	Disable continuous input mode.
	ExpansionHubPositionConstants (ExpansionHubPositionConstants &)=delete
ExpansionHubPositionConstants &	operator= (ExpansionHubPositionConstants &)=delete
	ExpansionHubPositionConstants (ExpansionHubPositionConstants &&)=default
ExpansionHubPositionConstants &	operator= (ExpansionHubPositionConstants &&)=default

Friends
class	ExpansionHubMotor

Detailed Description

This class contains feedback and feedforward constants for an ExpansionHub motor.

Constructor & Destructor Documentation

ExpansionHubPositionConstants() [1/2]

wpi::ExpansionHubPositionConstants::ExpansionHubPositionConstants ( ExpansionHubPositionConstants & )

delete

ExpansionHubPositionConstants() [2/2]

wpi::ExpansionHubPositionConstants::ExpansionHubPositionConstants ( ExpansionHubPositionConstants && )

default

Member Function Documentation

DisableContinuousInput()

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::DisableContinuousInput

(

)

Disable continuous input mode.

Returns

This object, for method chaining.

EnableContinuousInput()

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::EnableContinuousInput	(	double	minimumInput,
		double	maximumInput )

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters

minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

Returns

This object, for method chaining.

operator=() [1/2]

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::operator= ( ExpansionHubPositionConstants && )

default

operator=() [2/2]

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::operator= ( ExpansionHubPositionConstants & )

delete

SetPID()

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::SetPID	(	double	p,
		double	i,
		double	d )

Sets the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters

p	The proportional coefficient.
i	The integral coefficient.
d	The derivative coefficient.

Returns

This object, for method chaining.

SetS()

ExpansionHubPositionConstants & wpi::ExpansionHubPositionConstants::SetS

(

double

s

)

Sets the feed forward gains to the specified values.

The units should be radians for angular systems and meters for linear systems.

The motor control period is 10ms

Parameters

s	The static gain in volts.

Returns

This object, for method chaining.

Friends And Related Symbol Documentation

ExpansionHubMotor

friend class ExpansionHubMotor

friend

---

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

• wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp