subzero::RotationalSingleAxisSubsystem< TController > Class Template Reference

A single axis representing a circular path of motion in degrees. More...

#include <RotationalSingleAxisSubsystem.h>

Inheritance diagram for subzero::RotationalSingleAxisSubsystem< TController >:

Collaboration diagram for subzero::RotationalSingleAxisSubsystem< TController >:

Public Member Functions
	RotationalSingleAxisSubsystem (std::string name, TController &controller, ISingleAxisSubsystem< units::degree >::SingleAxisConfig config, units::meter_t armatureLength, frc::MechanismObject2d *node=nullptr)
void	Periodic () override
void	RunMotorVelocity (units::degrees_per_second_t speed, bool ignoreEncoder=false) override
Public Member Functions inherited from subzero::BaseSingleAxisSubsystem< TController, units::degree >
	BaseSingleAxisSubsystem (std::string name, TController &controller, ISingleAxisSubsystem< units::degree >::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 Attributes
units::meter_t	m_armatureLength
Protected Attributes inherited from subzero::BaseSingleAxisSubsystem< TController, units::degree >
std::optional< frc::DigitalInput * >	m_minLimitSwitch
std::optional< frc::DigitalInput * >	m_maxLimitSwitch
TController &	m_controller
ISingleAxisSubsystem< units::degree >::SingleAxisConfig	m_config
std::string	m_name
Distance_t	m_goalPosition
bool	m_pidEnabled
bool	m_home
bool	resetOccurred
double	m_latestSpeed
frc2::CommandPtr	m_resetEncCmd
frc::MechanismLigament2d *	m_ligament2d

Additional Inherited Members
Public Types inherited from subzero::BaseSingleAxisSubsystem< TController, units::degree >
using	PidState
using	Distance_t
using	Velocity
using	Velocity_t
using	Acceleration
using	Acceleration_t
Public Types inherited from subzero::ISingleAxisSubsystem< units::degree >
using	Distance_t
using	Velocity
using	Velocity_t
using	Acceleration
using	Acceleration_t
Protected Member Functions inherited from subzero::BaseSingleAxisSubsystem< TController, units::degree >
bool	IsMovementAllowed (double speed, bool ignoreEncoder=false)
bool	IsMovementAllowed (bool ignoreEncoder=false)

Detailed Description

template<typename TController>
class subzero::RotationalSingleAxisSubsystem< TController >

A single axis representing a circular path of motion in degrees.

Template Parameters

TController

PidMotorController

Definition at line 15 of file RotationalSingleAxisSubsystem.h.

Constructor & Destructor Documentation

RotationalSingleAxisSubsystem()

template<typename TController >

subzero::RotationalSingleAxisSubsystem< TController >::RotationalSingleAxisSubsystem ( std::string name, TController & controller, ISingleAxisSubsystem< units::degree >::SingleAxisConfig config, units::meter_t armatureLength, frc::MechanismObject2d * node = nullptr )

inline

Definition at line 18 of file RotationalSingleAxisSubsystem.h.

Member Function Documentation

Periodic()

template<typename TController >

void subzero::RotationalSingleAxisSubsystem< TController >::Periodic ( )

override

RunMotorVelocity()

template<typename TController >

void subzero::RotationalSingleAxisSubsystem< TController >::RunMotorVelocity ( units::degrees_per_second_t speed, bool ignoreEncoder = false )

override

Member Data Documentation

m_armatureLength

template<typename TController >

units::meter_t subzero::RotationalSingleAxisSubsystem< TController >::m_armatureLength

protected

Definition at line 32 of file RotationalSingleAxisSubsystem.h.

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

• include/subzero/singleaxis/RotationalSingleAxisSubsystem.h