wpi::xrp::XRPMotor Class Reference

XRPMotor. More...

#include <wpi/xrp/XRPMotor.hpp>

Inheritance diagram for wpi::xrp::XRPMotor:

Public Member Functions
	XRPMotor (int deviceNum)
	Constructs an XRPMotor.
void	SetDutyCycle (double value) override
	Sets the duty cycle of the motor controller.
double	GetDutyCycle () const override
	Gets the duty cycle of the motor controller.
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.
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.

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

XRPMotor.

A SimDevice based motor controller representing the motors on an XRP robot

Constructor & Destructor Documentation

XRPMotor()

wpi::xrp::XRPMotor::XRPMotor ( int deviceNum )

explicit

Constructs an XRPMotor.

Parameters

deviceNum

the motor channel

Member Function Documentation

Disable()

void wpi::xrp::XRPMotor::Disable ( )

overridevirtual

Disables the motor controller.

Implements wpi::MotorController.

GetDescription()

std::string wpi::xrp::XRPMotor::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::xrp::XRPMotor::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.

GetInverted()

bool wpi::xrp::XRPMotor::GetInverted ( ) const

overridevirtual

Gets the inversion state of the motor controller.

Returns

The inversion state.

Implements wpi::MotorController.

SetDutyCycle()

void wpi::xrp::XRPMotor::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.

SetInverted()

void wpi::xrp::XRPMotor::SetInverted ( bool isInverted )

overridevirtual

Sets the inversion state of the motor controller.

Parameters

isInverted

The inversion state.

Implements wpi::MotorController.

StopMotor()

void wpi::xrp::XRPMotor::StopMotor ( )

overridevirtual

Called to stop the motor when the timeout expires.

Implements wpi::MotorSafety.

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

• wpi/xrp/XRPMotor.hpp