Public Member Functions
	Mechanism (std::function< void(wpi::units::volt_t)> drive, std::function< void(wpi::sysid::SysIdRoutineLog )> log, wpi::cmd::Subsystem subsystem, std::string_view name)
	Create a new mechanism specification for a SysId routine.
	Mechanism (std::function< void(wpi::units::volt_t)> drive, std::function< void(wpi::sysid::SysIdRoutineLog )> log, wpi::cmd::Subsystem subsystem)
	Create a new mechanism specification for a SysId routine.

Public Attributes
std::function< void(wpi::units::volt_t)>	drive
	Sends the SysId-specified drive signal to the mechanism motors during test routines.
std::function< void(wpi::sysid::SysIdRoutineLog *)>	log
	Returns measured data (voltages, positions, velocities) of the mechanism motors during test routines.
wpi::cmd::Subsystem *	subsystem
	The subsystem containing the motor(s) that is (or are) being characterized.
std::string	name
	The name of the mechanism being tested.

Constructor & Destructor Documentation

◆ Mechanism() [1/2]

wpi::cmd::sysid::Mechanism::Mechanism	(	std::function< void(wpi::units::volt_t)>	drive,
		std::function< void(wpi::sysid::SysIdRoutineLog *)>	log,
		wpi::cmd::Subsystem *	subsystem,
		std::string_view	name )

inline

Create a new mechanism specification for a SysId routine.

Parameters

drive	Sends the SysId-specified drive signal to the mechanism motors during test routines.
log	Returns measured data of the mechanism motors during test routines. To return data, call Motor(string motorName) on the supplied SysIdRoutineLog instance, and then call one or more of the chainable logging handles (e.g. voltage) on the returned MotorLog. Multiple motors can be logged in a single callback by calling Motor multiple times.
subsystem	The subsystem containing the motor(s) that is (or are) being characterized. Will be declared as a requirement for the returned test commands.
name	The name of the mechanism being tested. Will be appended to the log entry * title for the routine's test state, e.g. "sysid-test-state-mechanism". Defaults to the name of the subsystem if left null.

wpi::cmd::sysid::Mechanism::Mechanism	(	std::function< void(wpi::units::volt_t)>	drive,
		std::function< void(wpi::sysid::SysIdRoutineLog *)>	log,
		wpi::cmd::Subsystem *	subsystem )

inline

Create a new mechanism specification for a SysId routine.

Defaults the mechanism name to the subsystem name.

Parameters

drive	Sends the SysId-specified drive signal to the mechanism motors during test routines.
log	Returns measured data of the mechanism motors during test routines. To return data, call Motor(string motorName) on the supplied SysIdRoutineLog instance, and then call one or more of the chainable logging handles (e.g. voltage) on the returned MotorLog. Multiple motors can be logged in a single callback by calling Motor multiple times.
subsystem	The subsystem containing the motor(s) that is (or are) being characterized. Will be declared as a requirement for the returned test commands. The subsystem's name will be appended to the log entry title for the routine's test state, e.g. "sysid-test-state-subsystem".

std::function<void(wpi::units::volt_t)> wpi::cmd::sysid::Mechanism::drive

Sends the SysId-specified drive signal to the mechanism motors during test routines.

std::function<void(wpi::sysid::SysIdRoutineLog*)> wpi::cmd::sysid::Mechanism::log

Returns measured data (voltages, positions, velocities) of the mechanism motors during test routines.

std::string wpi::cmd::sysid::Mechanism::name

The name of the mechanism being tested.

Will be appended to the log entry title for the routine's test state, e.g. "sysid-test-state-mechanism".

wpi::cmd::Subsystem* wpi::cmd::sysid::Mechanism::subsystem

The subsystem containing the motor(s) that is (or are) being characterized.

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