Abstract class that all Valor controllers's should implement. More...

#include <valkyrie/controllers/BaseController.h>

Inheritance diagram for valor::BaseController:

Classes
class	Signal

Public Types
enum class	OperationalMode { NON_OPERATIONAL , TUNING , OPERATIONAL }
enum class	ControlMode { VOLTAGE , CURRENT , DUTY_CYCLE , SPEED , POSITION }
using	Output = std::variant<units::volt_t, units::ampere_t, units::scalar_t>

Public Member Functions
	BaseController (frc::DCMotor _motorSpec)
	Construct a new Valor Controller object.
void	OnLoggingStart () override
	Hook invoked when logging is started for this object.
virtual void	ApplyConfig ()=0
constexpr units::turns_per_second_t	GetMaxMechanismSpeed ()
	Get the mechanisms's maximum speed.
constexpr double	GetGearRatio () const
constexpr void	SetVoltageCompensation (units::volt_t _voltageCompensation)
	Setup the voltage compensation for the motor.
constexpr units::volt_t	GetVoltageCompensation () const
virtual constexpr void	Reset ()
	Resets the motor and any state.
virtual Signal< units::turn_t >	GetPosition () const =0
	Get the motors position.
virtual Signal< units::ampere_t >	GetCurrent () const =0
	Get the motors output current.
virtual Signal< units::volt_t >	GetVoltage () const =0
virtual Signal< units::turns_per_second_t >	GetSpeed () const =0
	Get the motors speed.
virtual Signal< units::turns_per_second_squared_t >	GetAcceleration () const =0
virtual void	SetEncoderPosition (units::turn_t position)=0
void	SetPosition (units::turn_t position, Output feedforward=0, int slot=0)
void	SetSpeed (units::turns_per_second_t speed, Output feedforward=0, int slot=0)
void	SetPower (Output power)
virtual void	SetupFollower (int canID, bool followerInverted=false)=0
	If a motor is paired with another motor, setup that other motor as a follower.
virtual void	SetPIDF (valor::PIDF<> pidf, int slot=0, bool saveImmediately=false)=0
	Change the PIDF values for the motor.
void	SetLimits (units::turn_t reverse, units::turn_t forward, bool saveImmediately=false)
	Set both soft limits for the motor.
virtual void	SetForwardLimit (units::turn_t forward, bool saveImmediately=false)=0
	Set the forward soft limit for the motor.
virtual void	SetReverseLimit (units::turn_t reverse, bool saveImmediately=false)=0
	Set the reverse soft limit for the motor.
virtual void	SetNeutralMode (valor::NeutralMode mode, bool saveImmediately=false)=0
	Set the neutral mode of the motor.
virtual void	SetGearRatios (double rotorToSensor, double sensorToMech, bool saveImmediately=false)=0
	Set the gear ratios for the motor.
virtual void	SetOpenLoopRamp (units::second_t time, bool saveImmediately=false)=0
virtual units::turn_t	GetAbsoluteEncoderPosition () const =0
virtual units::volt_t	CalculateAppliedVoltage ()=0
virtual void	SetSimState (units::turn_t pos, units::turns_per_second_t vel, units::turns_per_second_squared_t accel)=0
virtual void	SetSimState (frc::sim::DCMotorSim &sim)
virtual void	SetSimState (frc::sim::FlywheelSim &sim)
virtual void	SetSimState (frc::sim::SingleJointedArmSim &sim)
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()=default
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Public Attributes
frc::DCMotor	motorSpec

Protected Member Functions
virtual void	PositionSetter (units::turn_t position, Output feedforward=0, int slot=0)=0
	Send the motor to a specific position.
virtual void	SpeedSetter (units::turns_per_second_t speed, Output feedforward=0, int slot=0)=0
	Send the motor to a specific speed.
virtual void	PowerSetter (Output out)=0

Protected Attributes
double	rotorToSensor
double	sensorToMech
units::volt_t	voltageCompensation

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()

Detailed Description

Abstract class that all Valor controllers's should implement.

Template Parameters

T	Motor data type

To make developer's lives easier and to prevent any mistakes in a quick build season, BaseController is used to organize code and abstract a lot of the base code that is often repetitive in all motor controllers.

The idea is that motor controllers on the robot implement BaseController and logic for that motor controller is run by the implemented class. Setup for the motors should also occur in the implemented BaseController, and the motor pointer itself also lives in this class.

Helper methods exist to make it easier for subsystems to control motors in a variety of ways.

Usage:

public class ValorFalconController : public BaseController { };

valor::BaseController::BaseController

BaseController(frc::DCMotor _motorSpec)

Construct a new Valor Controller object.

Definition BaseController.h:95

Member Function Documentation

◆ GetCurrent()

virtual Signal< units::ampere_t > valor::BaseController::GetCurrent ( ) const

pure virtual

Get the motors output current.

Get the instantaneous current of the motor that the controller owns

Returns: units::ampere_t Instantaneous amperage of the motor

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ GetMaxMechanismSpeed()

units::turns_per_second_t valor::BaseController::GetMaxMechanismSpeed ( )

inlineconstexpr

Get the mechanisms's maximum speed.

Returns: units::turns_per_second_t Mechanism's maximum angular speed (at the mech)

◆ GetPosition()

virtual Signal< units::turn_t > valor::BaseController::GetPosition ( ) const

pure virtual

Get the motors position.

To be defined by the implemented BaseController class

Returns: units::turn_t Position of the motor

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ GetSpeed()

virtual Signal< units::turns_per_second_t > valor::BaseController::GetSpeed ( ) const

pure virtual

Get the motors speed.

To be defined by the implemented BaseController class

Returns: units::turns_per_second_t Speed of the motor

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ LoggablePeriodic()

void valor::BaseController::LoggablePeriodic ( )

inlineoverridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

Reimplemented in valor::CorePhoenixController, and valor::NeoController.

◆ OnLoggingStart()

void valor::BaseController::OnLoggingStart ( )

inlineoverridevirtual

Hook invoked when logging is started for this object.

Derived classes may override to perform initialization when the NetworkTables table becomes active for this Loggable.

Reimplemented from valor::Loggable.

◆ PositionSetter()

virtual void valor::BaseController::PositionSetter	(	units::turn_t	position,
		Output	feedforward = 0,
		int	slot = 0 )

protectedpure virtual

Send the motor to a specific position.

Will use the motor's native trapezoidal motion profile to get the motor to that position. Can be tuned using the velocity and acceleration components of valor::PIDF via setPIDF

To be defined by the implemented BaseController class

Parameters

position	The position to send the motor to
slot	The slot to use for PID gains

Implemented in valor::NeoController, and valor::PhoenixController< VelocityOutput, PositionOutput >.

◆ Reset()

virtual constexpr void valor::BaseController::Reset ( )

inlineconstexprvirtual

Resets the motor and any state.

Clear the encoders for the motor and set to 0.

Additionally, should be called by the constructor to set default values before any logic is run.

To be defined by the implemented BaseController class

Reimplemented in valor::CorePhoenixController.

◆ SetForwardLimit()

virtual void valor::BaseController::SetForwardLimit	(	units::turn_t	forward,
		bool	saveImmediately = false )

pure virtual

Set the forward soft limit for the motor.

Soft limits restrict the reverse and forward direction to a certain range.

Parameters

forward	The forward soft limit
saveImmediately	Send the config change immediately to the motor controller

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ SetGearRatios()

virtual void valor::BaseController::SetGearRatios	(	double	rotorToSensor,
		double	sensorToMech,
		bool	saveImmediately = false )

pure virtual

Set the gear ratios for the motor.

Used to convert between the motor's rotor and the output shaft of the mechanism

To be defined by the implemented BaseController class

Parameters

rotorToSensor	The gear ratio from rotor to where the sensor is. Should be 1 if no external sensor
sensorToMech	The gear ratio from the sensor to the mechanism's output shaft. Should be the gear ratio if no external sensor
saveImmediately	Tell the underlying controller to apply the changes immediately, or to wait until a manual apply has been called

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ SetLimits()

void valor::BaseController::SetLimits	(	units::turn_t	reverse,
		units::turn_t	forward,
		bool	saveImmediately = false )

inline

Set both soft limits for the motor.

Soft limits restrict the reverse and forward direction to a certain range.

Calls out to the pure virtual functions setForwardLimit and setReverseLimit

Parameters

reverse	The reverse soft limit
forward	The forward soft limit
saveImmediately	Send the config change immediately to the motor controller

◆ SetNeutralMode()

virtual void valor::BaseController::SetNeutralMode	(	valor::NeutralMode	mode,
		bool	saveImmediately = false )

pure virtual

Set the neutral mode of the motor.

Parameters

mode	The neutral mode of the motor
saveImmediately	Send the config change immediately to the motor controller

Implemented in valor::CorePhoenixController, valor::NeoController, and valor::PhoenixController< VelocityOutput, PositionOutput >.

◆ SetPIDF()

virtual void valor::BaseController::SetPIDF	(	valor::PIDF<>	pidf,
		int	slot = 0,
		bool	saveImmediately = false )

pure virtual

Change the PIDF values for the motor.

valor::PIDF has some default values already set and tested, but if the system requires some changes, use this method to change those defaults.

Parameters

pidf	The new PIDF values to use for the system
slot	Set which slot of the motor to apply the PIDF. 0 if slots aren't compatible
saveImmediately	Send the config change immediately to the motor controller

Implemented in valor::NeoController, and valor::PhoenixController< VelocityOutput, PositionOutput >.

◆ SetReverseLimit()

virtual void valor::BaseController::SetReverseLimit	(	units::turn_t	reverse,
		bool	saveImmediately = false )

pure virtual

Set the reverse soft limit for the motor.

Soft limits restrict the reverse and reverse direction to a certain range.

Parameters

reverse	The reverse soft limit
saveImmediately	Send the config change immediately to the motor controller

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ SetupFollower()

virtual void valor::BaseController::SetupFollower	(	int	canID,
		bool	followerInverted = false )

pure virtual

If a motor is paired with another motor, setup that other motor as a follower.

The follower motor will need a CAN ID, and then it will mimic and assume all other parameters of the lead motor

To be defined by the implemented BaseController class

Parameters

canID	The CAN ID of the follower motor
followerInverted	Whether the follower is inverted or not. This is an absolute inversion, NOT relative to the master.

Implemented in valor::CorePhoenixController, and valor::NeoController.

◆ SetVoltageCompensation()

void valor::BaseController::SetVoltageCompensation ( units::volt_t _voltageCompensation )

inlineconstexpr

Setup the voltage compensation for the motor.

Note: Make sure to call first before setting up any PIDF profiles

◆ SpeedSetter()

virtual void valor::BaseController::SpeedSetter	(	units::turns_per_second_t	speed,
		Output	feedforward = 0,
		int	slot = 0 )

protectedpure virtual

Send the motor to a specific speed.

Will use the motor's native trapezoidal motion profile to get the motor to that position. Can be tuned using the PIDF components of valor::PIDF via setPIDF

To be defined by the implemented BaseController class

Parameters

speed	The speed to set the motor to
slot	The slot to use for PID gains

Implemented in valor::NeoController, and valor::PhoenixController< VelocityOutput, PositionOutput >.

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

src/main/include/valkyrie/controllers/BaseController.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ GetCurrent()

◆ GetMaxMechanismSpeed()

◆ GetPosition()

◆ GetSpeed()

◆ LoggablePeriodic()

◆ OnLoggingStart()

◆ PositionSetter()

◆ Reset()

◆ SetForwardLimit()

◆ SetGearRatios()

◆ SetLimits()

◆ SetNeutralMode()

◆ SetPIDF()

◆ SetReverseLimit()

◆ SetupFollower()

◆ SetVoltageCompensation()

◆ SpeedSetter()