first::a301::internal::A301 Class Reference

Classes
struct	PeriodicStatus0
struct	PeriodicStatus1
struct	PeriodicStatus2
struct	PeriodicStatus3

Public Types
enum class	ControlType {   kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kRelativePosition = 3 ,   kAbsolutePosition = 4 , kCurrent = 5 }

Public Member Functions
	A301 (int busId, int deviceId)
	~A301 ()
rev::REVLibError	SetSetpoint (double setpoint, ControlType ctrl, double positionSpeed=kDefaultPositionSpeed)
Signal< PeriodicStatus0 >	GetPeriodicStatus0 () const
Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const
Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const
Signal< PeriodicStatus3 >	GetPeriodicStatus3 () const

Public Attributes
c_A301_handle	m_a301Handle {}
int	m_busId
int	m_deviceId
double	m_setpoint = 0.0

Static Public Attributes
static constexpr double	kDefaultPositionSpeed {0.0}

Member Enumeration Documentation

ControlType

enum class first::a301::internal::A301::ControlType

strong

Enumerator
kDutyCycle
kVelocity
kVoltage
kRelativePosition
kAbsolutePosition
kCurrent

Constructor & Destructor Documentation

A301()

first::a301::internal::A301::A301 ( int  busId, int  deviceId  )

inline

~A301()

first::a301::internal::A301::~A301 ( )

inline

Member Function Documentation

SetSetpoint()

rev::REVLibError first::a301::internal::A301::SetSetpoint ( double  setpoint, ControlType  ctrl, double  positionSpeed = kDefaultPositionSpeed  )

inline

Set the controller setpoint based on the selected control mode.

Parameters

setpoint	The setpoint to set depending on the control mode. For: Duty Cycle (-1.0 to 1.0) Velocity Control: Velocity (RPM) Voltage Control: Voltage (volts) (-12.0 to 12.0) Relative Position Control: Position (Rotations) Absolute Position Control: Position (-0.5 to 0.5) Current Control: Current (Amps).
ctrl	Is the control type
positionSpeed	The speed to approach the position at (position control only)

Returns

REVLibError::kOk if successful

GetPeriodicStatus0()

Signal< PeriodicStatus0 > first::a301::internal::A301::GetPeriodicStatus0 ( ) const

inline

GetPeriodicStatus1()

Signal< PeriodicStatus1 > first::a301::internal::A301::GetPeriodicStatus1 ( ) const

inline

GetPeriodicStatus2()

Signal< PeriodicStatus2 > first::a301::internal::A301::GetPeriodicStatus2 ( ) const

inline

GetPeriodicStatus3()

Signal< PeriodicStatus3 > first::a301::internal::A301::GetPeriodicStatus3 ( ) const

inline

Member Data Documentation

kDefaultPositionSpeed

constexpr double first::a301::internal::A301::kDefaultPositionSpeed {0.0}

staticconstexpr

m_a301Handle

c_A301_handle first::a301::internal::A301::m_a301Handle {}

m_busId

int first::a301::internal::A301::m_busId

m_deviceId

int first::a301::internal::A301::m_deviceId

m_setpoint

double first::a301::internal::A301::m_setpoint = 0.0

---

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

• src/main/native/cpp/A301.cpp