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

#include <wpi/hardware/motor/PWMMotorController.hpp>

Inheritance diagram for wpi::PWMMotorController:

Public Member Functions
	PWMMotorController (PWMMotorController &&)=default
PWMMotorController &	operator= (PWMMotorController &&)=default
void	SetDutyCycle (double dutyCycle) override
	Sets the duty cycle of the motor controller.
double	GetDutyCycle () const override
	Gets the duty cycle of the motor controller.
virtual wpi::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
	Sets the inversion state of the motor controller.
bool	GetInverted () const override
	Gets the inversion state of the motor controller.
void	Disable () override
	Disables the motor controller.
void	StopMotor () override
	Called to stop the motor when the timeout expires.
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 wpi::MotorController
virtual	~MotorController ()=default
virtual void	SetVoltage (wpi::units::volt_t voltage)
	Sets the voltage output of the motor controller.
Public Member Functions inherited from wpi::MotorSafety
	MotorSafety ()
virtual	~MotorSafety ()
	MotorSafety (MotorSafety &&rhs)
MotorSafety &	operator= (MotorSafety &&rhs)
void	Feed ()
	Feed the motor safety object.
void	SetExpiration (wpi::units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object.
wpi::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::util::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::util::SendableHelper< PWMMotorController >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

Protected Member Functions
	PWMMotorController (std::string_view name, int channel)
	Constructor for a PWM Motor Controller connected via PWM.
void	InitSendable (wpi::util::SendableBuilder &builder) override
	Initializes this Sendable object.
void	SetDutyCycleInternal (double dutyCycle)
double	GetDutyCycleInternal () const
void	SetBounds (wpi::units::microsecond_t maxPwm, wpi::units::microsecond_t deadbandMaxPwm, wpi::units::microsecond_t centerPwm, wpi::units::microsecond_t deadbandMinPwm, wpi::units::microsecond_t minPwm)
Protected Member Functions inherited from wpi::util::SendableHelper< PWMMotorController >
constexpr	~SendableHelper ()

Protected Attributes
PWM	m_pwm
	PWM instances for motor controller.

Additional Inherited Members
Static Public Member Functions inherited from wpi::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]

wpi::PWMMotorController::PWMMotorController ( PWMMotorController && )

default

◆ PWMMotorController() [2/2]

wpi::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 wpi::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 wpi::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 wpi::PWMMotorController::Disable ( )

overridevirtual

Disables the motor controller.

Implements wpi::MotorController.

◆ EnableDeadbandElimination()

void wpi::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.

◆ GetChannel()

int wpi::PWMMotorController::GetChannel ( ) const

◆ GetDescription()

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

overridevirtual

Returns a description to print when an error occurs.

Returns: Description to print when an error occurs.

Implements wpi::MotorSafety.

◆ GetDutyCycle()

double wpi::PWMMotorController::GetDutyCycle ( ) const

overridevirtual

Gets the duty cycle of the motor controller.

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

Implements wpi::MotorController.

◆ GetDutyCycleInternal()

double wpi::PWMMotorController::GetDutyCycleInternal ( ) const

protected

◆ GetInverted()

bool wpi::PWMMotorController::GetInverted ( ) const

overridevirtual

Gets the inversion state of the motor controller.

Returns: The inversion state.

Implements wpi::MotorController.

◆ GetVoltage()

virtual wpi::units::volt_t wpi::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 wpi::PWMMotorController::InitSendable ( wpi::util::SendableBuilder & builder )

overrideprotectedvirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::util::Sendable.

◆ operator=()

PWMMotorController & wpi::PWMMotorController::operator= ( PWMMotorController && )

default

◆ SetBounds()

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

protected

◆ SetDutyCycle()

void wpi::PWMMotorController::SetDutyCycle ( double dutyCycle )

overridevirtual

Sets the duty cycle of the motor controller.

Parameters

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

Implements wpi::MotorController.

◆ SetDutyCycleInternal()

void wpi::PWMMotorController::SetDutyCycleInternal ( double dutyCycle )

protected

◆ SetInverted()

void wpi::PWMMotorController::SetInverted ( bool isInverted )

overridevirtual

Sets the inversion state of the motor controller.

Parameters

isInverted The inversion state.

Implements wpi::MotorController.

◆ StopMotor()

void wpi::PWMMotorController::StopMotor ( )

overridevirtual

Called to stop the motor when the timeout expires.

Implements wpi::MotorSafety.

Member Data Documentation

◆ m_pwm

PWM wpi::PWMMotorController::m_pwm

protected

PWM instances for motor controller.

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

wpi/hardware/motor/PWMMotorController.hpp

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()

◆ GetChannel()

◆ GetDescription()

◆ GetDutyCycle()

◆ GetDutyCycleInternal()

◆ GetInverted()

◆ GetVoltage()

◆ InitSendable()

◆ operator=()

◆ SetBounds()

◆ SetDutyCycle()

◆ SetDutyCycleInternal()

◆ SetInverted()

◆ StopMotor()

Member Data Documentation

◆ m_pwm