frc::MotorControllerGroup Class Reference

Allows multiple MotorController objects to be linked together. More...

#include <frc/motorcontrol/MotorControllerGroup.h>

Inheritance diagram for frc::MotorControllerGroup:

Public Member Functions
template<class... MotorControllers>
	MotorControllerGroup (MotorController &motorController, MotorControllers &... motorControllers)
	Create a new MotorControllerGroup with the provided MotorControllers.
	MotorControllerGroup (std::vector< std::reference_wrapper< MotorController > > &&motorControllers)
	Create a new MotorControllerGroup with the provided MotorControllers.
	MotorControllerGroup (MotorControllerGroup &&)=default
MotorControllerGroup &	operator= (MotorControllerGroup &&)=default
void	Set (double speed) override
	Common interface for setting the speed of a motor controller.
void	SetVoltage (units::volt_t output) override
	Sets the voltage output of the MotorController.
double	Get () const override
	Common interface for getting the current set speed of a motor controller.
void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller.
bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller.
void	Disable () override
	Common interface for disabling a motor.
void	StopMotor () override
	Common interface to stop the motor until Set is called again.
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from frc::MotorController
virtual	~MotorController ()=default
Public Member Functions inherited from wpi::SendableHelper< MotorControllerGroup >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< MotorControllerGroup >
constexpr	SendableHelper ()=default
constexpr	~SendableHelper ()

Detailed Description

Allows multiple MotorController objects to be linked together.

Constructor & Destructor Documentation

MotorControllerGroup() [1/3]

template<class... MotorControllers>

frc::MotorControllerGroup::MotorControllerGroup ( MotorController & motorController, MotorControllers &... motorControllers )

inlineexplicit

Create a new MotorControllerGroup with the provided MotorControllers.

Template Parameters

MotorControllers

The MotorController types.

Parameters

motorController	The first MotorController to add
motorControllers	The MotorControllers to add

MotorControllerGroup() [2/3]

frc::MotorControllerGroup::MotorControllerGroup ( std::vector< std::reference_wrapper< MotorController > > && motorControllers )

explicit

Create a new MotorControllerGroup with the provided MotorControllers.

Parameters

motorControllers

The MotorControllers to add.

MotorControllerGroup() [3/3]

frc::MotorControllerGroup::MotorControllerGroup ( MotorControllerGroup && )

default

Member Function Documentation

Disable()

void frc::MotorControllerGroup::Disable ( )

overridevirtual

Common interface for disabling a motor.

Implements frc::MotorController.

Get()

double frc::MotorControllerGroup::Get ( ) const

overridevirtual

Common interface for getting the current set speed of a motor controller.

Returns

The current set speed. Value is between -1.0 and 1.0.

Implements frc::MotorController.

GetInverted()

bool frc::MotorControllerGroup::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::MotorControllerGroup::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

MotorControllerGroup & frc::MotorControllerGroup::operator= ( MotorControllerGroup && )

default

Set()

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

overridevirtual

Common interface for setting the speed of a motor controller.

Parameters

speed

The speed to set. Value should be between -1.0 and 1.0.

Implements frc::MotorController.

SetInverted()

void frc::MotorControllerGroup::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.

SetVoltage()

void frc::MotorControllerGroup::SetVoltage ( units::volt_t output )

overridevirtual

Sets the voltage output of the MotorController.

Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function must be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Parameters

output

The voltage to output.

Reimplemented from frc::MotorController.

StopMotor()

void frc::MotorControllerGroup::StopMotor ( )

overridevirtual

Common interface to stop the motor until Set is called again.

Implements frc::MotorController.

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

• frc/motorcontrol/MotorControllerGroup.h