Inheritance diagram for valor::PhoenixController< VelocityOutput, PositionOutput >:

Public Member Functions
	PhoenixController (valor::PhoenixControllerType controllerType, int canID, valor::NeutralMode neutralMode, bool inverted, std::string canbus="", units::millisecond_t _loggingPeriod=100_ms)

void	enableFOC (bool enableFOC)

void	applyConfig () override

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

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

void	setCurrentLimits (units::ampere_t statorCurrentLimit, units::ampere_t supplyCurrentLimit, units::ampere_t supplyCurrentThreshold, units::second_t supplyTimeThreshold, bool saveImmediately=false)

void	setVoltageLimits (units::volt_t reverseLimit, units::volt_t forwardLimit, bool saveImmediately=false)

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

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

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

void	setEncoderPosition (units::turn_t position) override

void	setContinuousWrap (bool continuousWrap, bool saveImmediately=false)

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

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

void	setPosition (units::turn_t position, units::turns_per_second_t maxVelocity, units::turns_per_second_squared_t maxAcceleration, units::turns_per_second_cubed_t maxJerk, int slot=0)

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

void	powerSetter (double out) override

void	powerSetter (units::volt_t out) override

void	powerSetter (units::ampere_t out) override

void	useTimesync (units::hertz_t controlFreq, bool saveImmediately=false)

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	setupReverseHardwareLimit (int canID, ctre::phoenix6::signals::ReverseLimitTypeValue type, units::turn_t autosetPosition=0_tr, bool saveImmediately=false)

void	setupForwardHardwareLimit (int canID, ctre::phoenix6::signals::ForwardLimitTypeValue type, units::turn_t autosetPosition=0_tr, bool saveImmediately=false)

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.

ctre::phoenix6::signals::MagnetHealthValue	getMagnetHealth ()

units::turn_t	getAbsEncoderPosition () override

void	setupCANCoder (int deviceId, units::turn_t offset, bool clockwise, std::string canbus="", units::turn_t absoluteRange=1_tr, bool saveImmediately=false)

ctre::phoenix6::hardware::CANcoder *	getCANCoder ()

float	getBusUtil (const char *canBusName)

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

units::volt_t	calculateAppliedVoltage () override

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

bool	GetFault_BadMagnet (bool refresh=true)

void	LoggablePeriodic () override
	Periodic callback for logging updates.

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

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)

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

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)

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

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

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

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::applyConfig ( )

inlineoverridevirtual

Implements valor::BaseController.

◆ calculateAppliedVoltage()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

units::volt_t valor::PhoenixController< VelocityOutput, PositionOutput >::calculateAppliedVoltage ( )

inlineoverridevirtual

Implements valor::BaseController.

◆ getAbsEncoderPosition()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

units::turn_t valor::PhoenixController< VelocityOutput, PositionOutput >::getAbsEncoderPosition ( )

inlineoverridevirtual

Implements valor::BaseController.

◆ getCurrent()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

units::ampere_t valor::PhoenixController< VelocityOutput, PositionOutput >::getCurrent ( )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

units::turn_t valor::PhoenixController< VelocityOutput, PositionOutput >::getPosition ( )

inlineoverridevirtual

Get the motors position.

To be defined by the implemented BaseController class

Returns: units::turn_t Position of the motor

Implements valor::BaseController.

◆ getSpeed()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

units::turns_per_second_t valor::PhoenixController< VelocityOutput, PositionOutput >::getSpeed ( )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::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.

◆ positionSetter()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::positionSetter	(	units::turn_t	position,
		int	slot = 0 )

inlineoverridevirtual

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() [1/3]

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::powerSetter ( double out )

inlineoverridevirtual

Reimplemented from valor::BaseController.

◆ powerSetter() [2/3]

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::powerSetter ( units::ampere_t out )

inlineoverridevirtual

Reimplemented from valor::BaseController.

◆ powerSetter() [3/3]

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::powerSetter ( units::volt_t out )

inlineoverridevirtual

Reimplemented from valor::BaseController.

◆ reset()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::reset ( )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setEncoderPosition ( units::turn_t position )

inlineoverridevirtual

Implements valor::BaseController.

◆ setForwardLimit()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setForwardLimit	(	units::turn_t	forward,
		bool	saveImmediately = false )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setGearRatios	(	double	rotorToSensor,
		double	sensorToMech,
		bool	saveImmediately = false )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setOpenLoopRamp	(	units::second_t	time,
		bool	saveImmediately = false )

inlineoverridevirtual

Implements valor::BaseController.

◆ setPIDF()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setPIDF	(	valor::PIDF	pidf,
		int	slot = 0,
		bool	saveImmediately = false )

inlineoverridevirtual

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.

◆ setPositionWithFeedForward()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setPositionWithFeedForward	(	units::turn_t	position,
		units::turns_per_second_t	feedforwardVelocity,
		int	slot = 0 )

inlineoverridevirtual

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 from valor::BaseController.

◆ setReverseLimit()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setReverseLimit	(	units::turn_t	reverse,
		bool	saveImmediately = false )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setSimState ( frc::sim::DCMotorSim & sim )

inlineoverridevirtual

Implements valor::BaseController.

◆ setupFollower()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::setupFollower	(	int	canID,
		bool	followerInverted = false )

inlineoverridevirtual

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()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityVoltage, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicVoltage>

void valor::PhoenixController< VelocityOutput, PositionOutput >::speedSetter	(	units::turns_per_second_t	speed,
		int	slot = 0 )

inlineoverridevirtual

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/PhoenixController.h

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ applyConfig()

◆ calculateAppliedVoltage()

◆ getAbsEncoderPosition()

◆ getCurrent()

◆ getPosition()

◆ getSpeed()

◆ LoggablePeriodic()

◆ positionSetter()

◆ powerSetter() [1/3]

◆ powerSetter() [2/3]

◆ powerSetter() [3/3]

◆ reset()

◆ setEncoderPosition()

◆ setForwardLimit()

◆ setGearRatios()

◆ setOpenLoopRamp()

◆ setPIDF()

◆ setPositionWithFeedForward()

◆ setReverseLimit()

◆ setSimState()

◆ setupFollower()

◆ speedSetter()