Single axis interface. More...

#include <ISingleAxisSubsystem.h>

Classes
struct	SingleAxisConfig
	The configuration for single-axis mechanisms. More...

Public Types
using	Distance_t = units::unit_t<Distance>

using	Velocity

using	Velocity_t = units::unit_t<Velocity>

using	Acceleration

using	Acceleration_t = units::unit_t<Acceleration>

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

virtual void	RunMotorPercentage (double percentSpeed, bool ignoreEncoder=false)=0
	Run at the given velocity percentage; disables any in-progress absolute movements.

virtual void	RunMotorSpeedDefault (bool ignoreEncoder=false)=0
	Run at the default motor speed.

virtual void	ResetEncoder ()=0
	Reset encoder back to 0 ticks.

virtual Distance_t	GetCurrentPosition ()=0
	Get the current position in terms of converted distance.

virtual bool	AtHome ()=0
	Check if axis is at the mimimum extent of motion.

virtual bool	AtMax ()=0
	Check if axis is at the maximum extent of motion.

virtual bool	AtLimitSwitchMin ()=0
	Only check the limit switch for mimimum extent.

virtual bool	AtLimitSwitchMax ()=0
	Only check the limit switch for maximum extent.

virtual frc2::CommandPtr	MoveToPositionAbsolute (Distance_t position)=0
	Start moving to the absolute position.

virtual frc2::CommandPtr	MoveToPositionRelative (Distance_t position)=0
	Start moving to the position given the current distance and relative position.

virtual frc2::CommandPtr	Home ()=0
	Start the homing sequence.

virtual bool	IsEnabled ()=0
	Check if absolute positioning is active.

virtual void	DisablePid ()=0
	Stop and disable any in-progress absolute movements.

virtual void	EnablePid ()=0
	Enable absolute movements.

virtual void	Stop ()=0
	Stop the axis.

Detailed Description

template<typename Distance>
class subzero::ISingleAxisSubsystem< Distance >

Single axis interface.

Template Parameters

Distance The distance unit- typically meter, inch, degree, radian, etc.

Definition at line 36 of file ISingleAxisSubsystem.h.

Member Typedef Documentation

◆ Acceleration

template<typename Distance>

using subzero::ISingleAxisSubsystem< Distance >::Acceleration

Initial value:

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

Definition at line 42 of file ISingleAxisSubsystem.h.

◆ Acceleration_t

template<typename Distance>

using subzero::ISingleAxisSubsystem< Distance >::Acceleration_t = units::unit_t<Acceleration>

Definition at line 44 of file ISingleAxisSubsystem.h.

◆ Distance_t

template<typename Distance>

using subzero::ISingleAxisSubsystem< Distance >::Distance_t = units::unit_t<Distance>

Definition at line 38 of file ISingleAxisSubsystem.h.

◆ Velocity

template<typename Distance>

using subzero::ISingleAxisSubsystem< Distance >::Velocity

Initial value:

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

Definition at line 39 of file ISingleAxisSubsystem.h.

◆ Velocity_t

template<typename Distance>

using subzero::ISingleAxisSubsystem< Distance >::Velocity_t = units::unit_t<Velocity>

Definition at line 41 of file ISingleAxisSubsystem.h.

Member Function Documentation

◆ AtHome()

template<typename Distance>

virtual bool subzero::ISingleAxisSubsystem< Distance >::AtHome ( )

pure virtual

Check if axis is at the mimimum extent of motion.

Returns: true; false

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ AtLimitSwitchMax()

template<typename Distance>

virtual bool subzero::ISingleAxisSubsystem< Distance >::AtLimitSwitchMax ( )

pure virtual

Only check the limit switch for maximum extent.

Returns: true; false

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ AtLimitSwitchMin()

template<typename Distance>

virtual bool subzero::ISingleAxisSubsystem< Distance >::AtLimitSwitchMin ( )

pure virtual

Only check the limit switch for mimimum extent.

Returns: true; false

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ AtMax()

template<typename Distance>

virtual bool subzero::ISingleAxisSubsystem< Distance >::AtMax ( )

pure virtual

Check if axis is at the maximum extent of motion.

Returns: true; false

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ DisablePid()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::DisablePid ( )

pure virtual

Stop and disable any in-progress absolute movements.

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ EnablePid()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::EnablePid ( )

pure virtual

Enable absolute movements.

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ GetCurrentPosition()

template<typename Distance>

virtual Distance_t subzero::ISingleAxisSubsystem< Distance >::GetCurrentPosition ( )

pure virtual

Get the current position in terms of converted distance.

Returns: Distance_t

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ Home()

template<typename Distance>

virtual frc2::CommandPtr subzero::ISingleAxisSubsystem< Distance >::Home ( )

pure virtual

Start the homing sequence.

Returns: frc2::CommandPtr

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ IsEnabled()

template<typename Distance>

virtual bool subzero::ISingleAxisSubsystem< Distance >::IsEnabled ( )

pure virtual

Check if absolute positioning is active.

Returns: true; false

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ MoveToPositionAbsolute()

template<typename Distance>

virtual frc2::CommandPtr subzero::ISingleAxisSubsystem< Distance >::MoveToPositionAbsolute ( Distance_t position )

pure virtual

Start moving to the absolute position.

Parameters

position

Returns: frc2::CommandPtr

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ MoveToPositionRelative()

template<typename Distance>

virtual frc2::CommandPtr subzero::ISingleAxisSubsystem< Distance >::MoveToPositionRelative ( Distance_t position )

pure virtual

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

Parameters

position

Returns: frc2::CommandPtr

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ ResetEncoder()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::ResetEncoder ( )

pure virtual

Reset encoder back to 0 ticks.

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ RunMotorPercentage()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::RunMotorPercentage	(	double	percentSpeed,
		bool	ignoreEncoder = false )

pure virtual

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

Parameters

speed
ignoreEncoder

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ RunMotorSpeedDefault()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::RunMotorSpeedDefault ( bool ignoreEncoder = false )

pure virtual

Run at the default motor speed.

Parameters

ignoreEncoder

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ RunMotorVelocity()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::RunMotorVelocity	(	Velocity_t	speed,
		bool	ignoreEncoder = false )

pure virtual

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

Parameters

speed
ignoreEncoder

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

◆ Stop()

template<typename Distance>

virtual void subzero::ISingleAxisSubsystem< Distance >::Stop ( )

pure virtual

Stop the axis.

Implemented in subzero::BaseSingleAxisSubsystem< TController, TDistance >, subzero::BaseSingleAxisSubsystem< TController, units::degree >, and subzero::BaseSingleAxisSubsystem< TController, units::meter >.

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

include/subzero/singleaxis/ISingleAxisSubsystem.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Acceleration

◆ Acceleration_t

◆ Distance_t

◆ Velocity

◆ Velocity_t

Member Function Documentation

◆ AtHome()

◆ AtLimitSwitchMax()

◆ AtLimitSwitchMin()

◆ AtMax()

◆ DisablePid()

◆ EnablePid()

◆ GetCurrentPosition()

◆ Home()

◆ IsEnabled()

◆ MoveToPositionAbsolute()

◆ MoveToPositionRelative()

◆ ResetEncoder()

◆ RunMotorPercentage()

◆ RunMotorSpeedDefault()

◆ RunMotorVelocity()

◆ Stop()