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

#include <BaseController.h>

Inheritance diagram for valor::BaseController:

Public Types
enum class	OperationalMode { NonOperational , Tuning , Operational }

enum class	TuningMode { Voltage , Current , DutyCycle , Speed , Position }

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

OperationalMode	getOpMode ()

TuningMode	getTuneMode ()

units::turns_per_second_t	getMaxMechSpeed ()
	Get the mechanisms's maximum speed.

void	setVoltageCompensation (units::volt_t _voltageCompensation)
	Setup the voltage compensation for the motor.

units::volt_t	getVoltageCompensation ()

virtual void	reset ()=0
	Resets the motor and any state.

virtual units::turn_t	getPosition ()=0
	Get the motors position.

virtual units::ampere_t	getCurrent ()=0
	Get the motors output current.

virtual units::turns_per_second_t	getSpeed ()=0
	Get the motors speed.

virtual void	setEncoderPosition (units::turn_t position)=0

virtual void	positionSetter (units::turn_t position, int slot=0)=0
	Send the motor to a specific position.

void	setPosition (units::turn_t position, int slot=0)

virtual void	setPositionWithFeedForward (units::turn_t position, units::turns_per_second_t feedforwardVelocity, int slot=0)
	Send the motor to a specific position with a velocity feedforward.

virtual void	speedSetter (units::turns_per_second_t speed, int slot=0)=0
	Send the motor to a specific speed.

void	setSpeed (units::turns_per_second_t speed, int slot=0)

virtual void	powerSetter (units::volt_t voltage)

virtual void	powerSetter (units::ampere_t current)

virtual void	powerSetter (double dutyCycle)

template<typename T >
void	setPower (T 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	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	getAbsEncoderPosition ()=0

virtual units::volt_t	calculateAppliedVoltage ()=0

virtual void	setSimState (frc::sim::DCMotorSim &)=0

Public Member Functions inherited from valor::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.

void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.

template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)

template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)

template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Public Attributes
frc::DCMotor	motorSpec

double	rotorToSensor

double	sensorToMech

Protected Attributes
units::volt_t	voltageCompensation

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.

	Loggable ()
	Default construct an uninitialized Loggable.

virtual	~Loggable ()=default
	Virtual destructor.

virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.

template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.

template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

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

Abstract class that all Valor controllers's should implement.

Definition BaseController.h:53

valor::Loggable::ReadLog

T ReadLog(std::string_view field, const T &defaultValue={})

Read a value from NetworkTables for the given field.

Definition Loggable.h:343

Member Function Documentation

◆ getCurrent()

virtual units::ampere_t valor::BaseController::getCurrent ( )

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

◆ getMaxMechSpeed()

units::turns_per_second_t valor::BaseController::getMaxMechSpeed ( )

inline

Get the mechanisms's maximum speed.

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

◆ getPosition()

virtual units::turn_t valor::BaseController::getPosition ( )

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

◆ getSpeed()

virtual units::turns_per_second_t valor::BaseController::getSpeed ( )

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

◆ 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,
		int	slot = 0 )

pure 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

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

◆ reset()

virtual void valor::BaseController::reset ( )

pure virtual

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

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

◆ 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

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

◆ 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::PhoenixController< VelocityOutput, PositionOutput >, 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

◆ 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

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

◆ setPositionWithFeedForward()

virtual void valor::BaseController::setPositionWithFeedForward	(	units::turn_t	position,
		units::turns_per_second_t	feedforwardVelocity,
		int	slot = 0 )

inlinevirtual

Send the motor to a specific position with a velocity feedforward.

The controller converts the desired mechanism velocity to a feedforward voltage using its own kV and kS gains, then adds it to the closed-loop output. Useful when the setpoint is known to be moving (e.g. a turret tracking a field-stationary target while the chassis rotates).

Reimplemented in 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

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

◆ 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

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

◆ setVoltageCompensation()

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

inline

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,
		int	slot = 0 )

pure 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

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getCurrent()

◆ getMaxMechSpeed()

◆ getPosition()

◆ getSpeed()

◆ OnLoggingStart()

◆ positionSetter()

◆ reset()

◆ setForwardLimit()

◆ setGearRatios()

◆ setLimits()

◆ setPIDF()

◆ setPositionWithFeedForward()

◆ setReverseLimit()

◆ setupFollower()

◆ setVoltageCompensation()

◆ speedSetter()