subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder > Class Template Reference

Encapsulates a pair of motors that should be treated as a single unit. More...

#include <PidMotorControllerPair.h>

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

Public Member Functions
	PidMotorControllerPair (std::string prefix, PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder > &first, PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder > &second)
	Construct a new Pi MotorControllerPair.
void	RunWithVelocity (units::revolutions_per_minute_t rpmFirst, units::revolutions_per_minute_t rpmSecond)
	Run motors at the given RPM.
void	RunWithVelocity (double percentageFirst, double percentageSecond)
	Run motors at the given percentage of max RPM.
void	Stop ()
	Stop both motors.
const PidSettings &	GetPidSettings () const
void	UpdatePidSettings (PidSettings settings)

Public Attributes
const std::string	m_shuffleboardPrefix

Detailed Description

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

Encapsulates a pair of motors that should be treated as a single unit.

Template Parameters

TMotor
TController
TRelativeEncoder
TAbsoluteEncoder

Definition at line 25 of file PidMotorControllerPair.h.

Constructor & Destructor Documentation

PidMotorControllerPair()

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

subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::PidMotorControllerPair ( std::string prefix, PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder > & first, PidMotorController< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder > & second )

inlineexplicit

Construct a new Pi MotorControllerPair.

Parameters

prefix	Common identifier prefix in SmartDashboard
first
second

Definition at line 34 of file PidMotorControllerPair.h.

Member Function Documentation

GetPidSettings()

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

const PidSettings & subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::GetPidSettings ( ) const

inline

Definition at line 75 of file PidMotorControllerPair.h.

RunWithVelocity() [1/2]

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

void subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::RunWithVelocity ( double percentageFirst, double percentageSecond )

inline

Run motors at the given percentage of max RPM.

Parameters

percentageFirst	Percentage of the first motor
percentageSecond	Percentage of the second motor

Definition at line 61 of file PidMotorControllerPair.h.

RunWithVelocity() [2/2]

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

void subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::RunWithVelocity ( units::revolutions_per_minute_t rpmFirst, units::revolutions_per_minute_t rpmSecond )

inline

Run motors at the given RPM.

Parameters

rpmFirst	RPM of the first motor
rpmSecond	RPM of the second motor

Definition at line 49 of file PidMotorControllerPair.h.

Stop()

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

void subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::Stop ( )

inline

Stop both motors.

Definition at line 70 of file PidMotorControllerPair.h.

UpdatePidSettings()

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

void subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::UpdatePidSettings ( PidSettings settings )

inline

Definition at line 77 of file PidMotorControllerPair.h.

Member Data Documentation

m_shuffleboardPrefix

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

const std::string subzero::PidMotorControllerPair< TMotor, TController, TRelativeEncoder, TAbsoluteEncoder >::m_shuffleboardPrefix

Definition at line 84 of file PidMotorControllerPair.h.

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

• include/subzero/motor/PidMotorControllerPair.h