valor::CurrentSensor Class Reference

Sensor for detecting changes in motor current. More...

#include <CurrentSensor.h>

Inheritance diagram for valor::CurrentSensor:

Public Member Functions
	CurrentSensor (frc::TimedRobot &robot)
	Construct a new CurrentSensor object.
void	reset () override
	Reset the sensor state.
void	setSpikeCallback (std::function< void()> _lambda)
	Set a callback function to trigger when a current spike is detected.
void	setSpikeSetpoint (double _setpoint)
	Set the threshold for detecting a current spike.
void	setCacheSize (int _size)
	Set the size of the rolling average cache.
Public Member Functions inherited from valor::BaseSensor< double >
void	setGetter (std::function< double()> _lambda)
	Set the lambda function to fetch sensor data.
void	applyPostProcessing (std::function< double(double)> func)
	Set a post-processing function for sensor data.
double	get ()
	Get the current sensor state.
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)

Protected Member Functions
void	calculate () override
	Perform current sensor-specific calculations.
double	getAverage ()
	Get the average current from the rolling cache.
Protected Member Functions inherited from valor::BaseSensor< double >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.
virtual void	refresh ()
	Refresh the sensor state.
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	OnLoggingStart ()
	Hook invoked when logging is started for this object.
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.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
Protected Attributes inherited from valor::BaseSensor< double >
std::function< double()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< double(double)>	postProcessor
	Lambda function to post-process sensor data.
double	prevState
	Previous and current sensor states.
double	currState
frc::Timer	profiler

Detailed Description

Sensor for detecting changes in motor current.

This class monitors the output current of a motor and uses a rolling average to detect spikes in current. It can trigger callbacks when a spike is detected.

Constructor & Destructor Documentation

CurrentSensor()

valor::CurrentSensor::CurrentSensor ( frc::TimedRobot & robot )

explicit

Construct a new CurrentSensor object.

Parameters

robot

Reference to the robot, used to schedule the calculate method.

Member Function Documentation

calculate()

void valor::CurrentSensor::calculate ( )

overrideprotectedvirtual

Perform current sensor-specific calculations.

This method is called every 10ms and processes the current data to detect spikes.

Implements valor::BaseSensor< double >.

getAverage()

double valor::CurrentSensor::getAverage ( )

protected

Get the average current from the rolling cache.

Returns

double Average current value.

reset()

void valor::CurrentSensor::reset ( )

overridevirtual

Reset the sensor state.

Clears the rolling average cache and resets the spike setpoint.

Reimplemented from valor::BaseSensor< double >.

setCacheSize()

void valor::CurrentSensor::setCacheSize

(

int

_size

)

Set the size of the rolling average cache.

Parameters

_size

Number of data points to include in the rolling average.

setSpikeCallback()

void valor::CurrentSensor::setSpikeCallback

(

std::function< void()>

_lambda

)

Set a callback function to trigger when a current spike is detected.

Parameters

_lambda

Lambda function to execute on a current spike.

setSpikeSetpoint()

void valor::CurrentSensor::setSpikeSetpoint

(

double

_setpoint

)

Set the threshold for detecting a current spike.

Parameters

_setpoint

Current value that triggers a spike.

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

• src/main/include/valkyrie/sensors/CurrentSensor.h