frc2::sysid::Config Class Reference

Hardware-independent configuration for a SysId test routine. More...

#include <frc2/command/sysid/SysIdRoutine.h>

Public Member Functions
	Config (std::optional< ramp_rate_t > rampRate, std::optional< units::volt_t > stepVoltage, std::optional< units::second_t > timeout, std::optional< std::function< void(frc::sysid::State)> > recordState)
	Create a new configuration for a SysId test routine. More...

Public Attributes
ramp_rate_t	m_rampRate {1_V / 1_s}
	The voltage ramp rate used for quasistatic test routines. More...
units::volt_t	m_stepVoltage {7_V}
	The step voltage output used for dynamic test routines. More...
units::second_t	m_timeout {10_s}
	Safety timeout for the test routine commands. More...
std::function< void(frc::sysid::State)>	m_recordState
	Optional handle for recording test state in a third-party logging solution. More...

Detailed Description

Hardware-independent configuration for a SysId test routine.

Constructor & Destructor Documentation

Config()

frc2::sysid::Config::Config ( std::optional< ramp_rate_t >  rampRate, std::optional< units::volt_t >  stepVoltage, std::optional< units::second_t >  timeout, std::optional< std::function< void(frc::sysid::State)> >  recordState  )

inline

Create a new configuration for a SysId test routine.

Parameters

rampRate	The voltage ramp rate used for quasistatic test routines. Defaults to 1 volt per second if left null.
stepVoltage	The step voltage output used for dynamic test routines. Defaults to 7 volts if left null.
timeout	Safety timeout for the test routine commands. Defaults to 10 seconds if left null.
recordState	Optional handle for recording test state in a third-party logging solution. If provided, the test routine state will be passed to this callback instead of logged in WPILog.

Member Data Documentation

m_rampRate

ramp_rate_t frc2::sysid::Config::m_rampRate {1_V / 1_s}

The voltage ramp rate used for quasistatic test routines.

m_recordState

std::function<void(frc::sysid::State)> frc2::sysid::Config::m_recordState

Optional handle for recording test state in a third-party logging solution.

m_stepVoltage

units::volt_t frc2::sysid::Config::m_stepVoltage {7_V}

The step voltage output used for dynamic test routines.

m_timeout

units::second_t frc2::sysid::Config::m_timeout {10_s}

Safety timeout for the test routine commands.

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

• frc2/command/sysid/SysIdRoutine.h