Package edu.wpi.first.wpilibj.sysid

Class SysIdRoutineLog.MotorLog

java.lang.Object

edu.wpi.first.wpilibj.sysid.SysIdRoutineLog.MotorLog

Enclosing class:

SysIdRoutineLog

public class SysIdRoutineLog.MotorLog
extends Object

Logs data from a single motor during a SysIdRoutine.

Method Summary

Modifier and Type	Method	Description
SysIdRoutineLog.MotorLog	angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration)	Log the angular acceleration of the motor.
SysIdRoutineLog.MotorLog	angularPosition(Measure<Angle> position)	Log the angular position of the motor.
SysIdRoutineLog.MotorLog	angularVelocity(Measure<Velocity<Angle>> velocity)	Log the angular velocity of the motor.
SysIdRoutineLog.MotorLog	current(Measure<Current> current)	Log the current applied to the motor.
SysIdRoutineLog.MotorLog	linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration)	Log the linear acceleration of the motor.
SysIdRoutineLog.MotorLog	linearPosition(Measure<Distance> position)	Log the linear position of the motor.
SysIdRoutineLog.MotorLog	linearVelocity(Measure<Velocity<Distance>> velocity)	Log the linear velocity of the motor.
SysIdRoutineLog.MotorLog	value(String name, double value, String unit)	Log a generic data value from the motor.
SysIdRoutineLog.MotorLog	voltage(Measure<Voltage> voltage)	Log the voltage applied to the motor.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

value

public SysIdRoutineLog.MotorLog value(String name, double value, String unit)

Log a generic data value from the motor.

Parameters:

name - The name of the data field being recorded.

value - The numeric value of the data field.

unit - The unit string of the data field.

Returns:

The motor log (for call chaining).

voltage

public SysIdRoutineLog.MotorLog voltage(Measure<Voltage> voltage)

Log the voltage applied to the motor.

Parameters:

voltage - The voltage to record.

Returns:

The motor log (for call chaining).

linearPosition

public SysIdRoutineLog.MotorLog linearPosition(Measure<Distance> position)

Log the linear position of the motor.

Parameters:

position - The linear position to record.

Returns:

The motor log (for call chaining).

angularPosition

public SysIdRoutineLog.MotorLog angularPosition(Measure<Angle> position)

Log the angular position of the motor.

Parameters:

position - The angular position to record.

Returns:

The motor log (for call chaining).

linearVelocity

public SysIdRoutineLog.MotorLog linearVelocity(Measure<Velocity<Distance>> velocity)

Log the linear velocity of the motor.

Parameters:

velocity - The linear velocity to record.

Returns:

The motor log (for call chaining).

angularVelocity

public SysIdRoutineLog.MotorLog angularVelocity(Measure<Velocity<Angle>> velocity)

Log the angular velocity of the motor.

Parameters:

velocity - The angular velocity to record.

Returns:

The motor log (for call chaining).

linearAcceleration

public SysIdRoutineLog.MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration)

Log the linear acceleration of the motor.

This is optional; SysId can perform an accurate fit without it.

Parameters:

acceleration - The linear acceleration to record.

Returns:

The motor log (for call chaining).

angularAcceleration

public SysIdRoutineLog.MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration)

Log the angular acceleration of the motor.

This is optional; SysId can perform an accurate fit without it.

Parameters:

acceleration - The angular acceleration to record.

Returns:

The motor log (for call chaining).

current

public SysIdRoutineLog.MotorLog current(Measure<Current> current)

Log the current applied to the motor.

This is optional; SysId can perform an accurate fit without it.

Parameters:

current - The current to record.

Returns:

The motor log (for call chaining).