#include <A301.h>

Inherits wpi::MotorController.

Classes
struct	Faults

struct	Warnings

Public Member Functions
	A301 (int busId, int deviceId=defaultDeviceId)

	~A301 () override

int	GetBusId () const

int	GetDeviceId () const

uint32_t	GetFirmwareVersion ()

uint32_t	GetFirmwareVersion (bool &isDebugBuild)

std::string	GetFirmwareString ()

rev::util::Signal< bool >	HasActiveFault () const

rev::util::Signal< bool >	HasStickyFault () const

rev::util::Signal< bool >	HasActiveWarning () const

rev::util::Signal< bool >	HasStickyWarning () const

rev::util::Signal< Faults >	GetFaults () const

rev::util::Signal< Faults >	GetStickyFaults () const

rev::util::Signal< Warnings >	GetWarnings () const

rev::util::Signal< Warnings >	GetStickyWarnings () const

rev::util::Signal< double >	GetBusVoltage () const

rev::util::Signal< double >	GetAppliedOutput () const

rev::util::Signal< double >	GetMotorCurrent () const

rev::util::Signal< double >	GetMotorTemperature () const

rev::util::Signal< double >	GetRelativeEncoderPosition () const

rev::util::Signal< double >	GetEncoderVelocity () const

rev::util::Signal< double >	GetAbsoluteEncoderPosition () const

rev::REVLibError	SetRelativeEncoderPosition (double position)

rev::REVLibError	ClearFaults ()

rev::REVLibError	SetVelocity (double velocity)

rev::REVLibError	SetPosition (double position)

rev::REVLibError	SetAbsolutePosition (double absPosition, bool isContinuous)

rev::REVLibError	SetCurrent (double current)

void	SetThrottle (double throttle) override

double	GetThrottle () const override

void	SetVoltage (wpi::units::volt_t output) override

void	SetInverted (bool isInverted) override

bool	GetInverted () const override

void	Disable () override

Constructor & Destructor Documentation

◆ A301()

A301::A301	(	int	busId,
		int	deviceId = `defaultDeviceId`
	)

explicit

Create a new object to control a FIRST A301 motor

The default A301 device ID is set to 3 out of the factory.

Parameters

busId	The CAN bus ID this device will be on.
deviceId	The device ID.

◆ ~A301()

A301::~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() [1/2]

uint32_t A301::GetFirmwareVersion ( )

Get the firmware version of the FIRST A301.

Returns: uint32_t Firmware version integer. Value is represented as 4 bytes, Major.Minor.Build H.Build L

◆ GetFirmwareVersion() [2/2]

uint32_t A301::GetFirmwareVersion ( bool & isDebugBuild )

◆ GetFirmwareString()

std::string A301::GetFirmwareString ( )

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

Get the active faults that are currently present on the A301. Faults are fatal errors that prevent the motor from running.

Returns: Signal containing each fault and their active value

◆ 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

Get the active warnings that are currently present on the A301. Warnings are non-fatal errors.

Returns: Signal containing each warning and their active value

◆ GetStickyWarnings()

Signal< A301::Warnings > A301::GetStickyWarnings ( ) const

Get the sticky warnings that were present on the A301 at one point since the sticky warnings were last cleared. Warnings are non-fatal errors.

Sticky warnings can be cleared with A301::clearFaults().

Returns: Signal containing each warning and their sticky value

◆ 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

◆ 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

◆ 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

◆ SetPosition()

rev::REVLibError A301::SetPosition ( double position )

Sets the relative position of the A301.

Parameters

position The relative position (in Rotations) to set

Returns: REVLibError::kOk if successful

◆ SetAbsolutePosition()

rev::REVLibError A301::SetAbsolutePosition	(	double	absPosition,
		bool	isContinuous
	)

Sets the absolute position of the A301 with optional continuous rotation.

Parameters

absPosition	The absolute position (-0.5 to 0.5) to set
isContinuous	Should the position flip when it reaches an endpoint?

Returns: REVLibError::kOk if successful

◆ 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()

void A301::SetThrottle ( double throttle )

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()

double A301::GetThrottle ( ) const

override

Gets the throttle of the motor controller.

Returns: The throttle where -1.0 represents full reverse and 1.0 represents full forward.

◆ SetVoltage()

void A301::SetVoltage ( wpi::units::volt_t output )

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()

void A301::SetInverted ( bool isInverted )

override

Common interface for setting the inversion state of the motor controller.

Parameters

isInverted The inversion state.

◆ GetInverted()

bool A301::GetInverted ( ) const

override

Common interface for getting the inversion state of the motor controller.

Returns: The inversion state.

◆ Disable()

void A301::Disable ( )

override

Common interface for disabling a motor.

The documentation for this class was generated from the following files:

src/main/native/include/first/A301.h
src/main/native/cpp/A301.cpp

Classes

Public Member Functions

Constructor & Destructor Documentation

◆ A301()

◆ ~A301()

Member Function Documentation

◆ GetBusId()

◆ GetDeviceId()

◆ GetFirmwareVersion() [1/2]

◆ GetFirmwareVersion() [2/2]

◆ GetFirmwareString()

◆ HasActiveFault()

◆ HasStickyFault()

◆ HasActiveWarning()

◆ HasStickyWarning()

◆ GetFaults()

◆ GetStickyFaults()

◆ GetWarnings()

◆ GetStickyWarnings()

◆ GetBusVoltage()

◆ GetAppliedOutput()

◆ GetMotorCurrent()

◆ GetMotorTemperature()

◆ GetRelativeEncoderPosition()

◆ GetEncoderVelocity()

◆ GetAbsoluteEncoderPosition()

◆ SetRelativeEncoderPosition()

◆ ClearFaults()

◆ SetVelocity()

◆ SetPosition()

◆ SetAbsolutePosition()

◆ SetCurrent()

◆ SetThrottle()

◆ GetThrottle()

◆ SetVoltage()

◆ SetInverted()

◆ GetInverted()

◆ Disable()