Inheritance diagram for valor::NeoController:

Public Member Functions
	NeoController (valor::NeoControllerType, int canID, valor::NeutralMode mode, bool inverted)
void	ApplyConfig () override
Signal< units::turn_t >	GetPosition () const override
	Get the motors position.
Signal< units::ampere_t >	GetCurrent () const override
	Get the motors output current.
Signal< units::volt_t >	GetVoltage () const override
Signal< units::turns_per_second_t >	GetSpeed () const override
	Get the motors speed.
Signal< units::turns_per_second_squared_t >	GetAcceleration () const override
void	SetEncoderPosition (units::turn_t position) override
units::turn_t	GetAbsoluteEncoderPosition () const override
void	SetContinuousWrap (bool wrap, bool saveImmediately=false)
void	PositionSetter (units::turn_t positon, Output feedforward, int slot=0) override
	Send the motor to a specific position.
void	SpeedSetter (units::turns_per_second_t speed, Output feedforward, int slot=0) override
	Send the motor to a specific speed.
void	SetupFollower (int canID, bool followerInverted=false) override
	If a motor is paired with another motor, setup that other motor as a follower.
void	SetPIDF (valor::PIDF<> pidf, int slot=0, bool saveImmediately=false) override
	Change the PIDF values for the motor.
void	SetForwardLimit (units::turn_t forward, bool saveImmediately=false) override
	Set the forward soft limit for the motor.
void	SetReverseLimit (units::turn_t reverse, bool saveImmediately=false) override
	Set the reverse soft limit for the motor.
void	SetGearRatios (double rotorToSensor, double sensorToMech, bool saveImmediately=false) override
	Set the gear ratios for the motor.
void	SetCurrentLimits (units::ampere_t statorCurrentLimit, bool saveImmediately=false)
void	SetNeutralMode (valor::NeutralMode mode, bool saveImmediately=false) override
	Set the neutral mode of the motor.
void	SetOpenLoopRamp (units::second_t time, bool saveImmediately=false) override
void	PowerSetter (Output out) override
void	LoggablePeriodic () override
	Periodic callback for logging updates.
units::volt_t	CalculateAppliedVoltage () override
void	SetSimState (units::turn_t pos, units::turns_per_second_t vel, units::turns_per_second_squared_t accel) override
void	SetSimState (frc::sim::DCMotorSim &) override
void	SetSimState (frc::sim::FlywheelSim &) override
virtual void	SetSimState (frc::sim::SingleJointedArmSim &sim)
Public Member Functions inherited from valor::BaseController
	BaseController (frc::DCMotor _motorSpec)
	Construct a new Valor Controller object.
void	OnLoggingStart () override
	Hook invoked when logging is started for this object.
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.
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)
void	SetLimits (units::turn_t reverse, units::turn_t forward, bool saveImmediately=false)
	Set both soft limits for the motor.
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)

Static Public Member Functions
static constexpr frc::DCMotor	getMotorSpec (NeoControllerType controllerType)
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()

Additional Inherited Members
Public Types inherited from valor::BaseController
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 Attributes inherited from valor::BaseController
frc::DCMotor	motorSpec
Protected Attributes inherited from valor::BaseController
double	rotorToSensor
double	sensorToMech
units::volt_t	voltageCompensation

Member Function Documentation

◆ ApplyConfig()

void valor::NeoController::ApplyConfig ( )

overridevirtual

Implements valor::BaseController.

◆ CalculateAppliedVoltage()

units::volt_t valor::NeoController::CalculateAppliedVoltage ( )

overridevirtual

Implements valor::BaseController.

◆ GetAbsoluteEncoderPosition()

units::turn_t valor::NeoController::GetAbsoluteEncoderPosition ( ) const

overridevirtual

Implements valor::BaseController.

◆ GetAcceleration()

Signal< units::turns_per_second_squared_t > valor::NeoController::GetAcceleration ( ) const

overridevirtual

Implements valor::BaseController.

◆ GetCurrent()

Signal< units::ampere_t > valor::NeoController::GetCurrent ( ) const

overridevirtual

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

Implements valor::BaseController.

◆ GetPosition()

Signal< units::turn_t > valor::NeoController::GetPosition ( ) const

overridevirtual

Get the motors position.

To be defined by the implemented BaseController class

Returns: units::turn_t Position of the motor

Implements valor::BaseController.

◆ GetSpeed()

Signal< units::turns_per_second_t > valor::NeoController::GetSpeed ( ) const

overridevirtual

Get the motors speed.

To be defined by the implemented BaseController class

Returns: units::turns_per_second_t Speed of the motor

Implements valor::BaseController.

◆ GetVoltage()

Signal< units::volt_t > valor::NeoController::GetVoltage ( ) const

overridevirtual

Implements valor::BaseController.

◆ LoggablePeriodic()

void valor::NeoController::LoggablePeriodic ( )

overridevirtual

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::BaseController.

◆ PositionSetter()

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

overridevirtual

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

Implements valor::BaseController.

◆ PowerSetter()

void valor::NeoController::PowerSetter ( Output out )

overridevirtual

Implements valor::BaseController.

◆ SetEncoderPosition()

void valor::NeoController::SetEncoderPosition ( units::turn_t position )

overridevirtual

Implements valor::BaseController.

◆ SetForwardLimit()

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

overridevirtual

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

Implements valor::BaseController.

◆ SetGearRatios()

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

overridevirtual

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

Implements valor::BaseController.

◆ SetNeutralMode()

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

overridevirtual

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

Implements valor::BaseController.

◆ SetOpenLoopRamp()

void valor::NeoController::SetOpenLoopRamp	(	units::second_t	time,
		bool	saveImmediately = false )

overridevirtual

Implements valor::BaseController.

◆ SetPIDF()

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

overridevirtual

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

Implements valor::BaseController.

◆ SetReverseLimit()

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

overridevirtual

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

Implements valor::BaseController.

◆ SetSimState() [1/4]

void valor::NeoController::SetSimState ( frc::sim::DCMotorSim & )

overridevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [2/4]

void valor::NeoController::SetSimState ( frc::sim::FlywheelSim & )

overridevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [3/4]

virtual void valor::BaseController::SetSimState ( frc::sim::SingleJointedArmSim & sim )

inlinevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [4/4]

void valor::NeoController::SetSimState	(	units::turn_t	pos,
		units::turns_per_second_t	vel,
		units::turns_per_second_squared_t	accel )

overridevirtual

Implements valor::BaseController.

◆ SetupFollower()

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

overridevirtual

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.

Implements valor::BaseController.

◆ SpeedSetter()

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

overridevirtual

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

Implements valor::BaseController.

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

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ ApplyConfig()

◆ CalculateAppliedVoltage()

◆ GetAbsoluteEncoderPosition()

◆ GetAcceleration()

◆ GetCurrent()

◆ GetPosition()

◆ GetSpeed()

◆ GetVoltage()

◆ LoggablePeriodic()

◆ PositionSetter()

◆ PowerSetter()

◆ SetEncoderPosition()

◆ SetForwardLimit()

◆ SetGearRatios()

◆ SetNeutralMode()

◆ SetOpenLoopRamp()

◆ SetPIDF()

◆ SetReverseLimit()

◆ SetSimState() [1/4]

◆ SetSimState() [2/4]

◆ SetSimState() [3/4]

◆ SetSimState() [4/4]

◆ SetupFollower()

◆ SpeedSetter()