#include <A301.h>
Classes | |
| struct | Faults |
| struct | FirmwareVersion |
| struct | Warnings |
Public Types | |
| enum class | GearboxRPM { kRPM_Unknown , kRPM_215 , kRPM_500 } |
Member Enumeration Documentation
◆ GearboxRPM
|
strong |
Constructor & Destructor Documentation
◆ A301()
|
explicit |
Create a new object to control a FIRST A301 motor
NOTE: If busId indicates a Motioncore bus, the device ID will be auto-detected and deviceId will be ignored.
- Parameters
-
busId The CAN bus ID this device will be on. deviceId The device ID.
◆ ~A301()
|
overridedefault |
Closes the A301
Member Function Documentation
◆ GetBusId()
| int A301::GetBusId | ( | ) | const |
Get the configured CAN Bus ID of the FIRST A301.
- Returns
- int CAN bus ID
◆ GetDeviceId()
| int A301::GetDeviceId | ( | ) | const |
Get the configured Device ID of the FIRST A301.
- Returns
- int device ID
◆ GetFirmwareVersion()
| A301::FirmwareVersion A301::GetFirmwareVersion | ( | ) | const |
Get the firmware version of the FIRST A301.
- Returns
- FirmwareVersion
◆ GetFirmwareString()
| std::string A301::GetFirmwareString | ( | ) | const |
Get the firmware version of the FIRST A301 as a string.
- Returns
- std::string Human readable firmware version string
◆ HasActiveFault()
| Signal< bool > A301::HasActiveFault | ( | ) | const |
Get whether the A301 has one or more active faults.
- Returns
- Signal containing true if there is an active fault
- See also
- GetFaults()
◆ HasStickyFault()
| Signal< bool > A301::HasStickyFault | ( | ) | const |
Get whether the A301 has one or more sticky faults.
- Returns
- Signal containing true if there is a sticky fault
- See also
- GetStickyFaults()
◆ HasActiveWarning()
| Signal< bool > A301::HasActiveWarning | ( | ) | const |
Get whether the A301 has one or more active warnings.
- Returns
- Signal containing true if there is an active warning
- See also
- GetWarnings()
◆ HasStickyWarning()
| Signal< bool > A301::HasStickyWarning | ( | ) | const |
Get whether the A301 has one or more sticky warnings.
- Returns
- Signal containing true if there is a sticky warning
- See also
- GetStickyWarnings()
◆ GetFaults()
| Signal< A301::Faults > A301::GetFaults | ( | ) | const |
◆ GetStickyFaults()
| Signal< A301::Faults > A301::GetStickyFaults | ( | ) | const |
Get the sticky faults that were present on the A301 at one point since the sticky faults were last cleared. Faults are fatal errors that prevent the motor from running.
Sticky faults can be cleared with A301::ClearFaults().
- Returns
- Signal containing each fault and their sticky value
◆ GetWarnings()
| Signal< A301::Warnings > A301::GetWarnings | ( | ) | const |
◆ GetStickyWarnings()
| Signal< A301::Warnings > A301::GetStickyWarnings | ( | ) | const |
◆ GetBusVoltage()
| Signal< double > A301::GetBusVoltage | ( | ) | const |
Returns the voltage fed into the A301.
- Returns
- Signal containing the bus voltage
◆ GetAppliedOutput()
| Signal< double > A301::GetAppliedOutput | ( | ) | const |
Returns the A301's output duty cycle.
- Returns
- Signal containing the applied output duty cycle
◆ GetMotorCurrent()
| Signal< double > A301::GetMotorCurrent | ( | ) | const |
Returns A301's motor current in Amps.
- Returns
- Signal containing the motor current in Amps
◆ GetMotorTemperature()
| Signal< double > A301::GetMotorTemperature | ( | ) | const |
Returns the motor temperature in Celsius.
- Returns
- Signal containing the motor temperature in Celsius
◆ GetGearboxRPM()
| Signal< A301::GearboxRPM > A301::GetGearboxRPM | ( | ) | const |
Returns the RPM of the A301's attached gearbox.
- Returns
- Signal containing the gearbox RPM (
- See also
- GearboxRPM)
◆ GetRelativeEncoderPosition()
| Signal< double > A301::GetRelativeEncoderPosition | ( | ) | const |
Get the position of the motor. This returns the native units of 'rotations'.
- Returns
- Signal containing the number of rotations of the motor
◆ GetEncoderVelocity()
| Signal< double > A301::GetEncoderVelocity | ( | ) | const |
Get the velocity of the motor. This returns the native units of 'RPM'.
- Returns
- Signal containing the RPM of the motor
◆ GetAbsoluteEncoderPosition()
| Signal< double > A301::GetAbsoluteEncoderPosition | ( | ) | const |
Get the absolute position of the motor. This returns the native units of 'rotations'.
- Returns
- Signal containing the number of rotations of the motor
◆ SetRelativeEncoderPosition()
| rev::REVLibError A301::SetRelativeEncoderPosition | ( | double | position | ) |
Set the position of the relative encoder.
- Parameters
-
position Number of rotations of the motor
- Returns
- REVLibError::kOk if successful
◆ SetAbsoluteEncoderPosition()
| rev::REVLibError A301::SetAbsoluteEncoderPosition | ( | double | position | ) |
Set the position of the absolute encoder.
- Parameters
-
position Number of rotations of the motor
- Returns
- REVLibError::kOk if successful
◆ ClearFaults()
| rev::REVLibError A301::ClearFaults | ( | ) |
Clears all sticky faults.
◆ SetVelocity()
| rev::REVLibError A301::SetVelocity | ( | double | velocity | ) |
Sets the velocity of the A301.
- Parameters
-
velocity The velocity (in RPM) to set
- Returns
- REVLibError::kOk if successful
◆ SetRelativePosition()
| rev::REVLibError A301::SetRelativePosition | ( | double | position | ) |
Sets the relative position of the A301 (with maximum speed).
- Parameters
-
position The relative position (in Rotations) to set
- Returns
- REVLibError::kOk if successful
◆ SetRelativePositionWithSpeed()
| rev::REVLibError A301::SetRelativePositionWithSpeed | ( | double | position, |
| double | speed | ||
| ) |
Sets the relative position of the A301 with a specific speed.
- Parameters
-
position The relative position (in Rotations) to set speed The speed to approach the position at (in RPM)
- Returns
- REVLibError::kOk if successful
◆ SetAbsolutePosition()
| rev::REVLibError A301::SetAbsolutePosition | ( | double | absPosition | ) |
Sets the absolute position of the A301 (with maximum speed).
- Parameters
-
absPosition The absolute position (-0.5 to 0.5) to set
- Returns
- REVLibError::kOk if successful
◆ SetAbsolutePositionWithSpeed()
| rev::REVLibError A301::SetAbsolutePositionWithSpeed | ( | double | absPosition, |
| double | speed | ||
| ) |
Sets the absolute position of the A301 with a specific speed.
Setting speed <= 0 will apply maximum speed)
- Parameters
-
absPosition The absolute position (-0.5 to 0.5) to set speed The speed to approach the position at (in RPM)
- Returns
- REVLibError::kOk if successful
◆ EnableAbsolutePositionContinuousInput()
| rev::REVLibError A301::EnableAbsolutePositionContinuousInput | ( | ) |
Enables continuous input for absolute position control.
- Returns
- REVLibError::kOk if successful
◆ DisableAbsolutePositionContinuousInput()
| rev::REVLibError A301::DisableAbsolutePositionContinuousInput | ( | ) |
Disables continuous input for absolute position control.
- Returns
- REVLibError::kOk if successful
◆ IsAbsolutePositionContinuousInputEnabled()
| bool A301::IsAbsolutePositionContinuousInputEnabled | ( | ) | const |
Queries the continuous input for absolute position control.
- Returns
- true if continuous input is enabled.
◆ SetCurrent()
| rev::REVLibError A301::SetCurrent | ( | double | current | ) |
Sets the motor current of the A301.
- Parameters
-
current The current (in Amps) to drive the motor at
- Returns
- REVLibError::kOk if successful
◆ SetThrottle()
|
override |
Sets the throttle of the motor controller.
- Parameters
-
throttle The throttle where -1.0 indicates full reverse and 1.0 indicates full forward.
◆ GetThrottle()
|
override |
Gets the throttle of the motor controller.
- Returns
- The throttle where -1.0 represents full reverse and 1.0 represents full forward.
◆ SetVoltage()
|
override |
Sets the voltage output of the SpeedController. The behavior of this call differs slightly from the WPILib documentation for this call since the device internally sets the desired voltage (not a compensation value). That means that this can be a 'set-and-forget' call.
- Parameters
-
output The voltage to output. (-12.0 V to 12.0 V)
◆ SetInverted()
|
override |
Common interface for setting the inversion state of the motor controller.
- Parameters
-
isInverted The inversion state.
◆ GetInverted()
|
override |
Common interface for getting the inversion state of the motor controller.
- Returns
- The inversion state.
◆ Disable()
|
override |
Common interface for disabling a motor.
◆ FaultsPeriodMs()
| first::a301::A301 & A301::FaultsPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetFaults() and GetStickyFaults().
The default period is 50ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetFaultsPeriodMs()
| int A301::GetFaultsPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetFaults() and GetStickyFaults().
- Returns
- The period in milliseconds
◆ WarningsPeriodMs()
| first::a301::A301 & A301::WarningsPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetWarnings() and GetStickyWarnings().
The default period is 50ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetWarningsPeriodMs()
| int A301::GetWarningsPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetWarnings() and GetStickyWarnings().
- Returns
- The period in milliseconds
◆ BusVoltagePeriodMs()
| first::a301::A301 & A301::BusVoltagePeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetBusVoltage().
The default period is 10ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetBusVoltagePeriodMs()
| int A301::GetBusVoltagePeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetBusVoltage().
- Returns
- The period in milliseconds
◆ AppliedOutputPeriodMs()
| first::a301::A301 & A301::AppliedOutputPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetAppliedOutput().
The default period is 10ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetAppliedOutputPeriodMs()
| int A301::GetAppliedOutputPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetAppliedOutput().
- Returns
- The period in milliseconds
◆ MotorCurrentPeriodMs()
| first::a301::A301 & A301::MotorCurrentPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetMotorCurrent().
The default period is 10ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetMotorCurrentPeriodMs()
| int A301::GetMotorCurrentPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetMotorCurrent().
- Returns
- The period in milliseconds
◆ MotorTemperaturePeriodMs()
| first::a301::A301 & A301::MotorTemperaturePeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetMotorTemperature().
The default period is 10ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetMotorTemperaturePeriodMs()
| int A301::GetMotorTemperaturePeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetMotorTemperature().
- Returns
- The period in milliseconds
◆ RelativeEncoderPositionPeriodMs()
| first::a301::A301 & A301::RelativeEncoderPositionPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetRelativeEncoderPosition().
The default period is 20ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetRelativeEncoderPositionPeriodMs()
| int A301::GetRelativeEncoderPositionPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetRelativeEncoderPosition().
- Returns
- The period in milliseconds
◆ EncoderVelocityPeriodMs()
| first::a301::A301 & A301::EncoderVelocityPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetEncoderVelocity().
The default period is 20ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetEncoderVelocityPeriodMs()
| int A301::GetEncoderVelocityPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetEncoderVelocity().
- Returns
- The period in milliseconds
◆ AbsoluteEncoderPositionPeriodMs()
| first::a301::A301 & A301::AbsoluteEncoderPositionPeriodMs | ( | int | period_ms | ) |
Set the period (ms) of the status frame that provides the signal returned by GetAbsoluteEncoderPosition().
The default period is 20ms. The maximum period is 1000ms (1s).
If multiple periods are set for signals within the same status frame, the minimum given value will be used.
- Parameters
-
period_ms The period in milliseconds
- Returns
- The modified A301 object for method chaining
◆ GetAbsoluteEncoderPositionPeriodMs()
| int A301::GetAbsoluteEncoderPositionPeriodMs | ( | ) | const |
Get the period (ms) of the status frame that provides the signal returned by GetAbsoluteEncoderPosition().
- Returns
- The period in milliseconds
The documentation for this class was generated from the following files:
