The ultimate solution for turrets, arms, and much more. This class allows for absolute, relative, and joystick control across both linear and rotational axes. Even better, it checks motion limits, outputs real-time stats via SmartDashboard, and allows for out-of-the-box simulations via Mechanism2d. More...

#include <BaseSingleAxisSubsystem.h>

Inheritance diagram for subzero::BaseSingleAxisSubsystem< TController, TDistance >:

Collaboration diagram for subzero::BaseSingleAxisSubsystem< TController, TDistance >:

Public Types
using	PidState = typename frc::TrapezoidProfile<TDistance>::State

using	Distance_t = units::unit_t<TDistance>

using	Velocity

using	Velocity_t = units::unit_t<Velocity>

using	Acceleration

using	Acceleration_t = units::unit_t<Acceleration>

Public Types inherited from subzero::ISingleAxisSubsystem< TDistance >
using	Distance_t

using	Velocity

using	Velocity_t

using	Acceleration

using	Acceleration_t

Public Member Functions
	BaseSingleAxisSubsystem (std::string name, TController &controller, ISingleAxisSubsystem< TDistance >::SingleAxisConfig config, frc::MechanismObject2d *mechanismNode=nullptr)

void	Periodic () override
	Runs the absolute positioning task and updates relevant info on SmartDashboard.

virtual void	RunMotorVelocity (Velocity_t speed, bool ignoreEncoder=false)=0
	Run at the given velocity; disables any in-progress absolute movements.

void	UseState (PidState setpoint) override

void	RunMotorSpeedDefault (bool ignoreEncoder=false) override
	Run at the default motor speed.

void	RunMotorPercentage (double percentSpeed, bool ignoreEncoder=false) override
	Run at the given velocity percentage; disables any in-progress absolute movements.

Distance_t	GetCurrentPosition () override
	Get the current position in terms of converted distance.

void	Stop () override
	Stop the axis.

void	ResetEncoder () override
	Reset encoder back to 0 ticks.

bool	AtHome () override
	Check if axis is at the mimimum extent of motion.

bool	AtMax () override
	Check if axis is at the maximum extent of motion.

bool	AtLimitSwitchMin () override
	Only check the limit switch for mimimum extent.

bool	AtLimitSwitchMax () override
	Only check the limit switch for maximum extent.

frc2::CommandPtr	MoveToPositionAbsolute (Distance_t position) override
	Start moving to the absolute position.

frc2::CommandPtr	MoveToPositionRelative (Distance_t position) override
	Start moving to the position given the current distance and relative position.

frc2::CommandPtr	Home () override
	Start the homing sequence.

frc2::CommandPtr	ResetRelativeEncoder ()

frc::MechanismLigament2d *	GetLigament ()

bool	IsEnabled () override
	Check if absolute positioning is active.

void	DisablePid () override
	Stop and disable any in-progress absolute movements.

void	EnablePid () override
	Enable absolute movements.

void	OnInit ()
	This must be called once upon robot startup.

Protected Member Functions
bool	IsMovementAllowed (double speed, bool ignoreEncoder=false)

bool	IsMovementAllowed (bool ignoreEncoder=false)

Protected Attributes
std::optional< frc::DigitalInput * >	m_minLimitSwitch

std::optional< frc::DigitalInput * >	m_maxLimitSwitch

TController &	m_controller

ISingleAxisSubsystem< TDistance >::SingleAxisConfig	m_config

std::string	m_name

Distance_t	m_goalPosition

bool	m_pidEnabled

bool	m_home

bool	resetOccurred = false

double	m_latestSpeed

frc2::CommandPtr	m_resetEncCmd = EmptyCommand().ToPtr()

frc::MechanismLigament2d *	m_ligament2d

Detailed Description

template<typename TController, typename TDistance>
class subzero::BaseSingleAxisSubsystem< TController, TDistance >

The ultimate solution for turrets, arms, and much more. This class allows for absolute, relative, and joystick control across both linear and rotational axes. Even better, it checks motion limits, outputs real-time stats via SmartDashboard, and allows for out-of-the-box simulations via Mechanism2d.

Template Parameters

TController	PidMotorController
TDistance	Distance unit

Definition at line 44 of file BaseSingleAxisSubsystem.h.

Member Typedef Documentation

◆ Acceleration

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::Acceleration

Initial value:

units::compound_unit<Velocity, units::inverse<units::seconds>>

Definition at line 53 of file BaseSingleAxisSubsystem.h.

◆ Acceleration_t

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::Acceleration_t = units::unit_t<Acceleration>

Definition at line 55 of file BaseSingleAxisSubsystem.h.

◆ Distance_t

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::Distance_t = units::unit_t<TDistance>

Definition at line 49 of file BaseSingleAxisSubsystem.h.

◆ PidState

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::PidState = typename frc::TrapezoidProfile<TDistance>::State

Definition at line 48 of file BaseSingleAxisSubsystem.h.

◆ Velocity

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::Velocity

Initial value:

units::compound_unit<TDistance, units::inverse<units::seconds>>

Definition at line 50 of file BaseSingleAxisSubsystem.h.

◆ Velocity_t

template<typename TController , typename TDistance >

using subzero::BaseSingleAxisSubsystem< TController, TDistance >::Velocity_t = units::unit_t<Velocity>

Definition at line 52 of file BaseSingleAxisSubsystem.h.

Constructor & Destructor Documentation

◆ BaseSingleAxisSubsystem()

template<typename TController , typename TDistance >

subzero::BaseSingleAxisSubsystem< TController, TDistance >::BaseSingleAxisSubsystem	(	std::string	name,
		TController &	controller,
		ISingleAxisSubsystem< TDistance >::SingleAxisConfig	config,
		frc::MechanismObject2d *	mechanismNode = nullptr )

Member Function Documentation

◆ AtHome()

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::AtHome ( )

inlineoverridevirtual

Check if axis is at the mimimum extent of motion.

Returns: true; false

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 97 of file BaseSingleAxisSubsystem.h.

◆ AtLimitSwitchMax()

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::AtLimitSwitchMax ( )

overridevirtual

Only check the limit switch for maximum extent.

Returns: true; false

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ AtLimitSwitchMin()

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::AtLimitSwitchMin ( )

overridevirtual

Only check the limit switch for mimimum extent.

Returns: true; false

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ AtMax()

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::AtMax ( )

inlineoverridevirtual

Check if axis is at the maximum extent of motion.

Returns: true; false

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 101 of file BaseSingleAxisSubsystem.h.

◆ DisablePid()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::DisablePid ( )

overridevirtual

Stop and disable any in-progress absolute movements.

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ EnablePid()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::EnablePid ( )

overridevirtual

Enable absolute movements.

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ GetCurrentPosition()

template<typename TController , typename TDistance >

Distance_t subzero::BaseSingleAxisSubsystem< TController, TDistance >::GetCurrentPosition ( )

inlineoverridevirtual

Get the current position in terms of converted distance.

Returns: Distance_t

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 89 of file BaseSingleAxisSubsystem.h.

◆ GetLigament()

template<typename TController , typename TDistance >

frc::MechanismLigament2d * subzero::BaseSingleAxisSubsystem< TController, TDistance >::GetLigament ( )

inline

Definition at line 121 of file BaseSingleAxisSubsystem.h.

◆ Home()

template<typename TController , typename TDistance >

frc2::CommandPtr subzero::BaseSingleAxisSubsystem< TController, TDistance >::Home ( )

overridevirtual

Start the homing sequence.

Returns: frc2::CommandPtr

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ IsEnabled()

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::IsEnabled ( )

inlineoverridevirtual

Check if absolute positioning is active.

Returns: true; false

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 123 of file BaseSingleAxisSubsystem.h.

◆ IsMovementAllowed() [1/2]

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::IsMovementAllowed ( bool ignoreEncoder = false )

protected

◆ IsMovementAllowed() [2/2]

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::IsMovementAllowed	(	double	speed,
		bool	ignoreEncoder = false )

protected

◆ MoveToPositionAbsolute()

template<typename TController , typename TDistance >

frc2::CommandPtr subzero::BaseSingleAxisSubsystem< TController, TDistance >::MoveToPositionAbsolute ( Distance_t position )

overridevirtual

Start moving to the absolute position.

Parameters

position

Returns: frc2::CommandPtr

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ MoveToPositionRelative()

template<typename TController , typename TDistance >

frc2::CommandPtr subzero::BaseSingleAxisSubsystem< TController, TDistance >::MoveToPositionRelative ( Distance_t position )

inlineoverridevirtual

Start moving to the position given the current distance and relative position.

Parameters

position

Returns: frc2::CommandPtr

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 111 of file BaseSingleAxisSubsystem.h.

◆ OnInit()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::OnInit ( )

This must be called once upon robot startup.

◆ Periodic()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::Periodic ( )

override

Runs the absolute positioning task and updates relevant info on SmartDashboard.

◆ ResetEncoder()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::ResetEncoder ( )

overridevirtual

Reset encoder back to 0 ticks.

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ ResetRelativeEncoder()

template<typename TController , typename TDistance >

frc2::CommandPtr subzero::BaseSingleAxisSubsystem< TController, TDistance >::ResetRelativeEncoder ( )

inline

Definition at line 117 of file BaseSingleAxisSubsystem.h.

◆ RunMotorPercentage()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::RunMotorPercentage	(	double	percentSpeed,
		bool	ignoreEncoder = false )

overridevirtual

Run at the given velocity percentage; disables any in-progress absolute movements.

Parameters

speed
ignoreEncoder

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ RunMotorSpeedDefault()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::RunMotorSpeedDefault ( bool ignoreEncoder = false )

inlineoverridevirtual

Run at the default motor speed.

Parameters

ignoreEncoder

Implements subzero::ISingleAxisSubsystem< TDistance >.

Definition at line 82 of file BaseSingleAxisSubsystem.h.

◆ RunMotorVelocity()

template<typename TController , typename TDistance >

virtual void subzero::BaseSingleAxisSubsystem< TController, TDistance >::RunMotorVelocity	(	Velocity_t	speed,
		bool	ignoreEncoder = false )

pure virtual

Run at the given velocity; disables any in-progress absolute movements.

Parameters

speed
ignoreEncoder

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ Stop()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::Stop ( )

overridevirtual

Stop the axis.

Implements subzero::ISingleAxisSubsystem< TDistance >.

◆ UseState()

template<typename TController , typename TDistance >

void subzero::BaseSingleAxisSubsystem< TController, TDistance >::UseState ( PidState setpoint )

inlineoverride

Definition at line 78 of file BaseSingleAxisSubsystem.h.

Member Data Documentation

◆ m_config

template<typename TController , typename TDistance >

ISingleAxisSubsystem<TDistance>::SingleAxisConfig subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_config

protected

Definition at line 139 of file BaseSingleAxisSubsystem.h.

◆ m_controller

template<typename TController , typename TDistance >

TController& subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_controller

protected

Definition at line 138 of file BaseSingleAxisSubsystem.h.

◆ m_goalPosition

template<typename TController , typename TDistance >

Distance_t subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_goalPosition

protected

Definition at line 141 of file BaseSingleAxisSubsystem.h.

◆ m_home

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_home

protected

Definition at line 143 of file BaseSingleAxisSubsystem.h.

◆ m_latestSpeed

template<typename TController , typename TDistance >

double subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_latestSpeed

protected

Definition at line 145 of file BaseSingleAxisSubsystem.h.

◆ m_ligament2d

template<typename TController , typename TDistance >

frc::MechanismLigament2d* subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_ligament2d

protected

Definition at line 147 of file BaseSingleAxisSubsystem.h.

◆ m_maxLimitSwitch

template<typename TController , typename TDistance >

std::optional<frc::DigitalInput *> subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_maxLimitSwitch

protected

Definition at line 137 of file BaseSingleAxisSubsystem.h.

◆ m_minLimitSwitch

template<typename TController , typename TDistance >

std::optional<frc::DigitalInput *> subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_minLimitSwitch

protected

Definition at line 136 of file BaseSingleAxisSubsystem.h.

◆ m_name

template<typename TController , typename TDistance >

std::string subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_name

protected

Definition at line 140 of file BaseSingleAxisSubsystem.h.

◆ m_pidEnabled

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_pidEnabled

protected

Definition at line 142 of file BaseSingleAxisSubsystem.h.

◆ m_resetEncCmd

template<typename TController , typename TDistance >

frc2::CommandPtr subzero::BaseSingleAxisSubsystem< TController, TDistance >::m_resetEncCmd = EmptyCommand().ToPtr()

protected

Definition at line 146 of file BaseSingleAxisSubsystem.h.

◆ resetOccurred

template<typename TController , typename TDistance >

bool subzero::BaseSingleAxisSubsystem< TController, TDistance >::resetOccurred = false

protected

Definition at line 144 of file BaseSingleAxisSubsystem.h.

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

include/subzero/singleaxis/BaseSingleAxisSubsystem.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Acceleration

◆ Acceleration_t

◆ Distance_t

◆ PidState

◆ Velocity

◆ Velocity_t

Constructor & Destructor Documentation

◆ BaseSingleAxisSubsystem()

Member Function Documentation

◆ AtHome()

◆ AtLimitSwitchMax()

◆ AtLimitSwitchMin()

◆ AtMax()

◆ DisablePid()

◆ EnablePid()

◆ GetCurrentPosition()

◆ GetLigament()

◆ Home()

◆ IsEnabled()

◆ IsMovementAllowed() [1/2]

◆ IsMovementAllowed() [2/2]

◆ MoveToPositionAbsolute()

◆ MoveToPositionRelative()

◆ OnInit()

◆ Periodic()

◆ ResetEncoder()

◆ ResetRelativeEncoder()

◆ RunMotorPercentage()

◆ RunMotorSpeedDefault()

◆ RunMotorVelocity()

◆ Stop()

◆ UseState()

Member Data Documentation

◆ m_config

◆ m_controller

◆ m_goalPosition

◆ m_home

◆ m_latestSpeed

◆ m_ligament2d

◆ m_maxLimitSwitch

◆ m_minLimitSwitch

◆ m_name

◆ m_pidEnabled

◆ m_resetEncCmd

◆ resetOccurred