Combines a motor, motor drvier, relative encoder, and absolute encoder into a single wrapper; helpful for absolute positioning, setting velocities, or tuning PID values. More...

#include <PidMotorController.h>

Inheritance diagram for subzero::PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder, TPidConfig >:

Collaboration diagram for subzero::PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder, TPidConfig >:

Public Member Functions
	PidMotorController (std::string name, TMotor &motor, TRelativeEncoder &encoder, TController &controller, PidSettings pidSettings, TAbsoluteEncoder *absEncoder, units::revolutions_per_minute_t maxRpm)
	Construct a new PidMotorController.

void	Set (double percentage) override
	Set the motor to a percentage of max voltage.

void	Set (units::volt_t volts) override
	Set a motor to a voltage.

void	SetPidTolerance (double tolerance) override
	Absolute positioning is considered 'Done' when within this zone.

void	Update () override
	! Call this every loop in Periodic !

void	RunWithVelocity (units::revolutions_per_minute_t rpm) override
	Set to this velocity.

void	RunWithVelocity (double percentage) override
	Set to a percentage of max RPM.

void	RunToPosition (double position) override
	Enables absolute positioning and sets the target to the position.

virtual void	ResetEncoder () override

double	GetEncoderPosition () override

std::optional< double >	GetAbsoluteEncoderPosition () override

void	SetEncoderConversionFactor (double factor) override
	Sets the multiplier for going between encoder ticks and actual distance.

void	SetAbsoluteEncoderConversionFactor (double factor) override
	Sets the multiplier for going between encoder ticks and actual distance.

void	Stop () override
	Disable absolute positioning and stop the motor.

const PidSettings &	GetPidSettings () override

void	UpdatePidSettings (PidSettings settings)

Public Member Functions inherited from subzero::IPidMotorController
	IPidMotorController (std::string name)

Protected Attributes
TMotor &	m_motor

TController &	m_controller

TRelativeEncoder &	m_encoder

TAbsoluteEncoder *	m_absEncoder

TPidConfig	m_config

PidSettings	m_settings

frc::PIDController	m_pidController

bool	m_absolutePositionEnabled = false

double	m_absoluteTarget = 0

const units::revolutions_per_minute_t	m_maxRpm

bool	m_isInitialized

Additional Inherited Members
Public Attributes inherited from subzero::IPidMotorController
const std::string	m_name

Detailed Description

template<typename TMotor, typename TController, typename TRelativeEncoder, typename TAbsoluteEncoder, typename TPidConfig>
class subzero::PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder, TPidConfig >

Combines a motor, motor drvier, relative encoder, and absolute encoder into a single wrapper; helpful for absolute positioning, setting velocities, or tuning PID values.

Template Parameters

TMotor
TController
TRelativeEncoder
TAbsoluteEncoder

Definition at line 33 of file PidMotorController.h.

Constructor & Destructor Documentation

◆ PidMotorController()

template<typename TMotor, typename TController, typename TRelativeEncoder, typename TAbsoluteEncoder, typename TPidConfig>

subzero::PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder, TPidConfig >::PidMotorController	(	std::string	name,
		TMotor &	motor,
		TRelativeEncoder &	encoder,
		TController &	controller,
		PidSettings	pidSettings,
		TAbsoluteEncoder *	absEncoder,
		units::revolutions_per_minute_t	maxRpm )

explicit

Construct a new PidMotorController.

Parameters

name	Display name in SmartDashboard
motor
encoder
controller
pidSettings	Initial PID settings
absEncoder	Set to nullptr for a disconnected encoder
maxRpm	Max RPM of the motor; used to set velocity based on percentage

Member Function Documentation

◆ GetAbsoluteEncoderPosition()

template<typename TMotor, typename TController, typename TRelativeEncoder, typename TAbsoluteEncoder, typename TPidConfig>

std::optional< double > subzero::PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder, TPidConfig >::GetAbsoluteEncoderPosition ( )

overridevirtual

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PidMotorController()

Member Function Documentation

◆ GetAbsoluteEncoderPosition()

◆ GetEncoderPosition()

◆ GetPidSettings()

◆ ResetEncoder()

◆ RunToPosition()

◆ RunWithVelocity() [1/2]

◆ RunWithVelocity() [2/2]

◆ Set() [1/2]

◆ Set() [2/2]

◆ SetAbsoluteEncoderConversionFactor()

◆ SetEncoderConversionFactor()

◆ SetPidTolerance()

◆ Stop()

◆ Update()

◆ UpdatePidSettings()

Member Data Documentation

◆ m_absEncoder

◆ m_absolutePositionEnabled

◆ m_absoluteTarget

◆ m_config

◆ m_controller

◆ m_encoder

◆ m_isInitialized

◆ m_maxRpm

◆ m_motor

◆ m_pidController

◆ m_settings