Inheritance diagram for valor::NeoController:

Public Member Functions
	NeoController (valor::NeoControllerType, int canID, valor::NeutralMode mode, bool inverted)

void	reset () override
	Resets the motor and any state.

void	applyConfig () override

units::turn_t	getPosition () override
	Get the motors position.

units::ampere_t	getCurrent () override
	Get the motors output current.

units::turns_per_second_t	getSpeed () override
	Get the motors speed.

void	setEncoderPosition (units::turn_t position) override

units::turn_t	getAbsEncoderPosition () override

void	setContinuousWrap (bool wrap, bool saveImmediately=false)

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

void	speedSetter (units::turns_per_second_t speed, 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, units::ampere_t supplyCurrentLimit, units::ampere_t supplyCurrentThreshold, units::second_t supplyTimeThreshold, bool saveImmediately=false)

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

void	setOpenLoopRamp (units::second_t time, bool saveImmediately=false) override

void	powerSetter (units::volt_t voltage) override

void	LoggablePeriodic () override
	Periodic callback for logging updates.

units::volt_t	calculateAppliedVoltage () override

void	setSimState (frc::sim::DCMotorSim &) override

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.

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 ()

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.

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

virtual void	powerSetter (units::ampere_t current)

virtual void	powerSetter (double dutyCycle)

template<typename T >
void	setPower (T 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
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)

Static Public Member Functions
static constexpr frc::DCMotor	getMotorSpec (NeoControllerType controllerType)

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

Additional Inherited Members
Public Types inherited from valor::BaseController
enum class	OperationalMode { NonOperational , Tuning , Operational }

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

Public Attributes inherited from valor::BaseController
frc::DCMotor	motorSpec

double	rotorToSensor

double	sensorToMech

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.

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.

Protected Attributes inherited from valor::BaseController
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.

◆ getAbsEncoderPosition()

units::turn_t valor::NeoController::getAbsEncoderPosition ( )

overridevirtual

Implements valor::BaseController.

◆ getCurrent()

units::ampere_t valor::NeoController::getCurrent ( )

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()

units::turn_t valor::NeoController::getPosition ( )

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()

units::turns_per_second_t valor::NeoController::getSpeed ( )

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.

◆ 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::Loggable.

◆ positionSetter()

void valor::NeoController::positionSetter	(	units::turn_t	position,
		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

Implements valor::BaseController.

◆ powerSetter()

void valor::NeoController::powerSetter ( units::volt_t voltage )

overridevirtual

Reimplemented from valor::BaseController.

◆ reset()

void valor::NeoController::reset ( )

overridevirtual

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

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

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.

◆ 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

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

Implements valor::BaseController.

◆ setSimState()

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

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

Implements valor::BaseController.

◆ speedSetter()

void valor::NeoController::speedSetter	(	units::turns_per_second_t	speed,
		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

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()

◆ getAbsEncoderPosition()

◆ getCurrent()

◆ getPosition()

◆ getSpeed()

◆ LoggablePeriodic()

◆ positionSetter()

◆ powerSetter()

◆ reset()

◆ setEncoderPosition()

◆ setForwardLimit()

◆ setGearRatios()

◆ setOpenLoopRamp()

◆ setPIDF()

◆ setReverseLimit()

◆ setSimState()

◆ setupFollower()

◆ speedSetter()