frc::NidecBrushless Class Reference

Nidec Brushless Motor. More...

#include <frc/motorcontrol/NidecBrushless.h>

Inheritance diagram for frc::NidecBrushless:

Public Member Functions
	NidecBrushless (int pwmChannel, int dioChannel)
	Constructor. More...
	~NidecBrushless () override=default
	NidecBrushless (NidecBrushless &&)=default
NidecBrushless &	operator= (NidecBrushless &&)=default
void	Set (double speed) override
	Set the PWM value. More...
double	Get () const override
	Get the recently set value of the PWM. More...
void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller. More...
bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller. More...
void	Disable () override
	Disable the motor. More...
void	Enable ()
	Re-enable the motor after Disable() has been called. More...
void	StopMotor () override
std::string	GetDescription () const override
	The return value from this method is printed out when an error occurs. More...
int	GetChannel () const
	Gets the channel number associated with the object. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from frc::MotorController
virtual	~MotorController ()=default
virtual void	Set (double speed)=0
	Common interface for setting the speed of a motor controller. More...
virtual void	SetVoltage (units::volt_t output)
	Sets the voltage output of the MotorController. More...
virtual double	Get () const =0
	Common interface for getting the current set speed of a motor controller. More...
virtual void	SetInverted (bool isInverted)=0
	Common interface for inverting direction of a motor controller. More...
virtual bool	GetInverted () const =0
	Common interface for returning the inversion state of a motor controller. More...
virtual void	Disable ()=0
	Common interface for disabling a motor. More...
virtual void	StopMotor ()=0
	Common interface to stop the motor until Set is called again. More...
Public Member Functions inherited from frc::MotorSafety
	MotorSafety ()
virtual	~MotorSafety ()
	MotorSafety (MotorSafety &&rhs)
MotorSafety &	operator= (MotorSafety &&rhs)
void	Feed ()
	Feed the motor safety object. More...
void	SetExpiration (units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object. More...
units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object. More...
bool	IsAlive () const
	Determine if the motor is still operating or has timed out. More...
void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device. More...
bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag. More...
void	Check ()
	Check if this motor has exceeded its timeout. More...
virtual void	StopMotor ()=0
virtual std::string	GetDescription () const =0
	The return value from this method is printed out when an error occurs. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< NidecBrushless >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Static Public Member Functions inherited from frc::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out. More...
Protected Member Functions inherited from wpi::SendableHelper< NidecBrushless >
	SendableHelper ()=default
	~SendableHelper ()

Detailed Description

Nidec Brushless Motor.

Constructor & Destructor Documentation

NidecBrushless() [1/2]

frc::NidecBrushless::NidecBrushless	(	int	pwmChannel,
		int	dioChannel
	)

Constructor.

Parameters

pwmChannel	The PWM channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-19 are on the MXP port.
dioChannel	The DIO channel that the Nidec Brushless controller is attached to. 0-9 are on-board, 10-25 are on the MXP port.

~NidecBrushless()

frc::NidecBrushless::~NidecBrushless ( )

overridedefault

NidecBrushless() [2/2]

frc::NidecBrushless::NidecBrushless ( NidecBrushless &&  )

default

Member Function Documentation

Disable()

void frc::NidecBrushless::Disable ( )

overridevirtual

Disable the motor.

The Enable() function must be called to re-enable the motor.

Implements frc::MotorController.

Enable()

void frc::NidecBrushless::Enable

(

)

Re-enable the motor after Disable() has been called.

The Set() function must be called to set a new motor speed.

Get()

double frc::NidecBrushless::Get ( ) const

overridevirtual

Get the recently set value of the PWM.

Returns

The most recently set value for the PWM between -1.0 and 1.0.

Implements frc::MotorController.

GetChannel()

int frc::NidecBrushless::GetChannel

(

)

const

Gets the channel number associated with the object.

Returns

The channel number.

GetDescription()

std::string frc::NidecBrushless::GetDescription ( ) const

overridevirtual

The return value from this method is printed out when an error occurs.

This method must not throw!

Implements frc::MotorSafety.

GetInverted()

bool frc::NidecBrushless::GetInverted ( ) const

overridevirtual

Common interface for returning the inversion state of a motor controller.

Returns

isInverted The state of inversion, true is inverted.

Implements frc::MotorController.

InitSendable()

void frc::NidecBrushless::InitSendable ( wpi::SendableBuilder &  builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

NidecBrushless & frc::NidecBrushless::operator= ( NidecBrushless &&  )

default

Set()

void frc::NidecBrushless::Set ( double  speed )

overridevirtual

Set the PWM value.

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Parameters

speed

The speed value between -1.0 and 1.0 to set.

Implements frc::MotorController.

SetInverted()

void frc::NidecBrushless::SetInverted ( bool  isInverted )

overridevirtual

Common interface for inverting direction of a motor controller.

Parameters

isInverted

The state of inversion, true is inverted.

Implements frc::MotorController.

StopMotor()

void frc::NidecBrushless::StopMotor ( )

overridevirtual

Implements frc::MotorSafety.

---

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

• frc/motorcontrol/NidecBrushless.h