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

Classes
struct	PeriodicStatus0
struct	PeriodicStatus1
struct	PeriodicStatus2
struct	PeriodicStatus5

Public Types
enum class	ControlType {   kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kRelativePosition = 3 ,   kAbsolutePosition = 4 , kContinuousAbsolutePosition = 5 , kCurrent = 6 }
enum class	Responsiveness { kHigh , kNormal , kLow }

Public Member Functions
	A301 (int busId, int deviceId)
	~A301 ()
rev::REVLibError	SetSetpoint (double setpoint, ControlType ctrl, Responsiveness resp=Responsiveness::kHigh)
Signal< PeriodicStatus0 >	GetPeriodicStatus0 () const
Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const
Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const
Signal< PeriodicStatus5 >	GetPeriodicStatus5 () const

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

Member Enumeration Documentation

ControlType

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

strong

Enumerator
kDutyCycle
kVelocity
kVoltage
kRelativePosition
kAbsolutePosition
kContinuousAbsolutePosition
kCurrent

Responsiveness

enum class first::a301::internal::A301::Responsiveness

strong

How quickly the FIRST A301 reacts to the setpoint

Enumerator
kHigh
kNormal
kLow

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, Responsiveness  resp = Responsiveness::kHigh  )

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) Absolute Position Control: Position (-0.5 to 0.5) Continuous Absolute Position Control: Position (-0.5 to 0.5) Relative Position Control: Position (Rotations) Current Control: Current (Amps).
ctrl	Is the control type
resp	How quickly the A301 responds to the setpoint

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

= 0, .motorLoopSpeedStickyWarning

GetPeriodicStatus2()

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

inline

GetPeriodicStatus5()

Signal< PeriodicStatus5 > first::a301::internal::A301::GetPeriodicStatus5 ( ) const

inline

Member Data Documentation

m_a301Handle

c_Spark_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

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

• src/main/native/cpp/A301.cpp