#include <PidMotorController.h>

Inheritance diagram for subzero::RevPidMotorController:

Collaboration diagram for subzero::RevPidMotorController:

Additional Inherited Members
Public Member Functions inherited from subzero::PidMotorController< rev::CANSparkMax, rev::SparkPIDController, rev::SparkRelativeEncoder, rev::SparkAbsoluteEncoder >
	PidMotorController (std::string name, rev::CANSparkMax &motor, rev::SparkRelativeEncoder &encoder, rev::SparkPIDController &controller, PidSettings pidSettings, rev::SparkAbsoluteEncoder *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) override

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

Public Attributes inherited from subzero::IPidMotorController
const std::string	m_name

Protected Attributes inherited from subzero::PidMotorController< rev::CANSparkMax, rev::SparkPIDController, rev::SparkRelativeEncoder, rev::SparkAbsoluteEncoder >
rev::CANSparkMax &	m_motor

rev::SparkPIDController &	m_controller

rev::SparkRelativeEncoder &	m_encoder

rev::SparkAbsoluteEncoder *	m_absEncoder

PidSettings	m_settings

frc::PIDController	m_pidController

bool	m_absolutePositionEnabled

double	m_absoluteTarget

const units::revolutions_per_minute_t	m_maxRpm

Detailed Description

Definition at line 207 of file PidMotorController.h.

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

include/subzero/motor/PidMotorController.h

Additional Inherited Members

Detailed Description