REVLib - C++
ClosedLoopConfigAccessor.h
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1/*
2 * Copyright (c) 2024-2025 REV Robotics
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27 */
28
29#pragma once
30
31#include "rev/ClosedLoopTypes.h"
36
37namespace rev::spark {
38
41
42protected:
43 explicit ClosedLoopConfigAccessor(void* sparkHandle);
44
45private:
46 void* m_sparkHandle;
47
48public:
52
59 [[deprecated]] double GetFF(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
71};
72
73} // namespace rev::spark
Definition: ClosedLoopConfigAccessor.h:39
double GetMinOutput(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:104
SmartMotionConfigAccessor smartMotion
Definition: ClosedLoopConfigAccessor.h:50
FeedForwardConfigAccessor feedForward
Definition: ClosedLoopConfigAccessor.h:51
double GetIZone(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:95
MAXMotionConfigAccessor maxMotion
Definition: ClosedLoopConfigAccessor.h:49
double GetDFilter(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:86
double GetAllowedClosedLoopError(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:132
double GetPositionWrappingMaxInput()
Definition: ClosedLoopConfigAccessor.cpp:158
double GetMaxIAccumulation(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:122
double GetPositionWrappingMinInput()
Definition: ClosedLoopConfigAccessor.cpp:151
double GetMaxOutput(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:113
bool GetPositionWrappingEnabled()
Definition: ClosedLoopConfigAccessor.cpp:144
ClosedLoopConfigAccessor(void *sparkHandle)
Definition: ClosedLoopConfigAccessor.cpp:44
double GetFF(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:77
double GetI(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:59
double GetD(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:68
FeedbackSensor GetFeedbackSensor()
Definition: ClosedLoopConfigAccessor.cpp:165
double GetP(ClosedLoopSlot slot=ClosedLoopSlot::kSlot0)
Definition: ClosedLoopConfigAccessor.cpp:50
Definition: FeedForwardConfigAccessor.h:36
Definition: MAXMotionConfigAccessor.h:36
Definition: SmartMotionConfigAccessor.h:36
Definition: SparkBaseConfigAccessor.h:42
Definition: SparkLowLevel.cpp:40
FeedbackSensor
Definition: ClosedLoopTypes.h:37
ClosedLoopSlot
Definition: ClosedLoopTypes.h:35
@ kSlot0
Definition: ClosedLoopTypes.h:35