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

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

Public Member Functions
ExpansionHubVelocityConstants &	SetPID (double p, double i, double d)
	Sets the PID Controller gain parameters.
ExpansionHubVelocityConstants &	SetFF (double s, double v, double a)
	Sets the feed forward gains to the specified values.
	ExpansionHubVelocityConstants (ExpansionHubVelocityConstants &)=delete
ExpansionHubVelocityConstants &	operator= (ExpansionHubVelocityConstants &)=delete
	ExpansionHubVelocityConstants (ExpansionHubVelocityConstants &&)=default
ExpansionHubVelocityConstants &	operator= (ExpansionHubVelocityConstants &&)=default

Friends
class	ExpansionHubMotor

Detailed Description

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

Constructor & Destructor Documentation

◆ ExpansionHubVelocityConstants() [1/2]

wpi::ExpansionHubVelocityConstants::ExpansionHubVelocityConstants ( ExpansionHubVelocityConstants & )

delete

◆ ExpansionHubVelocityConstants() [2/2]

wpi::ExpansionHubVelocityConstants::ExpansionHubVelocityConstants ( ExpansionHubVelocityConstants && )

default

Member Function Documentation

◆ operator=() [1/2]

ExpansionHubVelocityConstants & wpi::ExpansionHubVelocityConstants::operator= ( ExpansionHubVelocityConstants && )

default

◆ operator=() [2/2]

ExpansionHubVelocityConstants & wpi::ExpansionHubVelocityConstants::operator= ( ExpansionHubVelocityConstants & )

delete

◆ SetFF()

ExpansionHubVelocityConstants & wpi::ExpansionHubVelocityConstants::SetFF	(	double	s,
		double	v,
		double	a )

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.
v	The velocity gain in volts per unit per second.
a	The acceleration gain in volts per unit per second squared.

Returns: This object, for method chaining.

◆ SetPID()

ExpansionHubVelocityConstants & wpi::ExpansionHubVelocityConstants::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.

◆ ExpansionHubMotor

friend class ExpansionHubMotor

friend

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

wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp

Public Member Functions

Friends