valor::sensors::CurrentSensor Class Reference

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

#include <valkyrie/sensors/CurrentSensor.h>

Inheritance diagram for valor::sensors::CurrentSensor:

Public Member Functions
	CurrentSensor (units::ampere_t threshold)
	Construct a new CurrentSensor object.
void	Reset () override
	Reset the sensor state.
void	SetSpikeCallback (std::function< void()> cb)
	Set a callback function to trigger when a current spike is detected.
void	SetThreshold (units::ampere_t threshold)
	Set the threshold for detecting a current spike.
units::ampere_t	GetThreshold () const
void	SetFilterSize (int size)
	Set the size of the rolling average cache.
void	SetFilterTime (units::second_t time)
	Set the time interval of the rolling average cache.
Public Member Functions inherited from valor::sensors::BaseSensor< units::ampere_t >
void	SetGetter (std::function< units::ampere_t()> _lambda)
	Set the lambda function to fetch sensor data.
void	ApplyPostProcessing (std::function< units::ampere_t(units::ampere_t)> func)
	Set a post-processing function for sensor data.
units::ampere_t	Get () const
	Get the current sensor state.
void	Refresh () override
	Refresh the sensor state.
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 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.
void	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	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.
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.
units::ampere_t	GetAverage () const
	Get the average current from the rolling cache.
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2
Protected Attributes inherited from valor::sensors::BaseSensor< units::ampere_t >
std::function< units::ampere_t()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< units::ampere_t(units::ampere_t)>	postProcessor
	Lambda function to post-process sensor data.
units::ampere_t	prevState
	Previous and current sensor states.
units::ampere_t	currState

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::sensors::CurrentSensor::CurrentSensor ( units::ampere_t threshold )

explicit

Construct a new CurrentSensor object.

Parameters

robot	Reference to the robot, used to schedule the calculate method.
threshold	The current threshold for the moving average

Member Function Documentation

Calculate()

void valor::sensors::CurrentSensor::Calculate ( )

overrideprotectedvirtual

Perform current sensor-specific calculations.

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

Reimplemented from valor::sensors::BaseSensorCore.

GetAverage()

units::ampere_t valor::sensors::CurrentSensor::GetAverage ( ) const

inlineprotected

Get the average current from the rolling cache.

Returns

double Average current value.

LoggablePeriodic()

void valor::sensors::CurrentSensor::LoggablePeriodic ( )

overrideprotectedvirtual

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.

Reset()

void valor::sensors::CurrentSensor::Reset ( )

overridevirtual

Reset the sensor state.

Clears the rolling average cache and resets the spike setpoint.

Reimplemented from valor::sensors::BaseSensor< units::ampere_t >.

SetFilterSize()

void valor::sensors::CurrentSensor::SetFilterSize

(

int

size

)

Set the size of the rolling average cache.

Parameters

size	Number of data points to include in the rolling average.

SetFilterTime()

void valor::sensors::CurrentSensor::SetFilterTime ( units::second_t time )

inline

Set the time interval of the rolling average cache.

Parameters

time	Time interval of the rolling average

SetSpikeCallback()

void valor::sensors::CurrentSensor::SetSpikeCallback ( std::function< void()> cb )

inline

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

Parameters

cb	Callback to execute on a current spike.

SetThreshold()

void valor::sensors::CurrentSensor::SetThreshold

(

units::ampere_t

threshold

)

Set the threshold for detecting a current spike.

Parameters

threshold

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