Public Member Functions
	Mechanism (std::function< void(units::volt_t)> drive, std::function< void(frc::sysid::SysIdRoutineLog )> log, frc2::Subsystem subsystem, std::string_view name)
	Create a new mechanism specification for a SysId routine. More...

	Mechanism (std::function< void(units::volt_t)> drive, std::function< void(frc::sysid::SysIdRoutineLog )> log, frc2::Subsystem subsystem)
	Create a new mechanism specification for a SysId routine. More...

Public Attributes
std::function< void(units::volt_t)>	m_drive
	Sends the SysId-specified drive signal to the mechanism motors during test routines. More...

std::function< void(frc::sysid::SysIdRoutineLog *)>	m_log
	Returns measured data (voltages, positions, velocities) of the mechanism motors during test routines. More...

frc2::Subsystem *	m_subsystem
	The subsystem containing the motor(s) that is (or are) being characterized. More...

std::string	m_name
	The name of the mechanism being tested. More...

Constructor & Destructor Documentation

◆ Mechanism() [1/2]

frc2::sysid::Mechanism::Mechanism	(	std::function< void(units::volt_t)>	drive,
		std::function< void(frc::sysid::SysIdRoutineLog *)>	log,
		frc2::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.

frc2::sysid::Mechanism::Mechanism	(	std::function< void(units::volt_t)>	drive,
		std::function< void(frc::sysid::SysIdRoutineLog *)>	log,
		frc2::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(units::volt_t)> frc2::sysid::Mechanism::m_drive

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

std::function<void(frc::sysid::SysIdRoutineLog*)> frc2::sysid::Mechanism::m_log

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

std::string frc2::sysid::Mechanism::m_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".

frc2::Subsystem* frc2::sysid::Mechanism::m_subsystem

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

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