REVLib - C++
Public Types | Public Member Functions | Friends | List of all members
rev::SparkPIDController Class Reference

#include <SparkPIDController.h>

Inherits rev::SparkMaxPIDController.

Public Types

enum class  AccelStrategy { kTrapezoidal = 0 , kSCurve = 1 }
 
enum class  ArbFFUnits { kVoltage = 0 , kPercentOut = 1 }
 
- Public Types inherited from rev::SparkMaxPIDController
enum class  AccelStrategy { kTrapezoidal = 0 , kSCurve = 1 }
 
enum class  ArbFFUnits { kVoltage = 0 , kPercentOut = 1 }
 

Public Member Functions

 SparkPIDController (SparkPIDController &&)=default
 
SparkPIDController & operator= (SparkPIDController &&)=default
 
 SparkPIDController (const SparkPIDController &rhs)=default
 
 ~SparkPIDController () override=default
 
- Public Member Functions inherited from rev::SparkMaxPIDController
 SparkMaxPIDController (SparkMaxPIDController &&)=default
 
SparkMaxPIDController & operator= (SparkMaxPIDController &&)=default
 
 SparkMaxPIDController (const SparkMaxPIDController &rhs)=default
 
 ~SparkMaxPIDController () override=default
 
REVLibError SetReference (double value, CANSparkLowLevel::ControlType ctrl, int pidSlot=0, double arbFeedforward=0, SparkMaxPIDController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)
 
REVLibError SetReference (double value, CANSparkMaxLowLevel::ControlType ctrl, int pidSlot=0, double arbFeedforward=0, SparkMaxPIDController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)
 
REVLibError SetReference (double value, ControlType ctrl, int pidSlot=0, double arbFeedforward=0, CANPIDController::ArbFFUnits arbFFUnits=CANPIDController::ArbFFUnits::kVoltage) override
 
REVLibError SetP (double gain, int slotID=0) override
 
REVLibError SetI (double gain, int slotID=0) override
 
REVLibError SetD (double gain, int slotID=0) override
 
REVLibError SetDFilter (double gain, int slotID=0) override
 
REVLibError SetFF (double gain, int slotID=0) override
 
REVLibError SetIZone (double IZone, int slotID=0) override
 
REVLibError SetOutputRange (double min, double max, int slotID=0) override
 
double GetP (int slotID=0) const override
 
double GetI (int slotID=0) const override
 
double GetD (int slotID=0) const override
 
double GetDFilter (int slotID=0) const override
 
double GetFF (int slotID=0) const override
 
double GetIZone (int slotID=0) const override
 
double GetOutputMin (int slotID=0) const override
 
double GetOutputMax (int slotID=0) const override
 
REVLibError SetSmartMotionMaxVelocity (double maxVel, int slotID=0) override
 
REVLibError SetSmartMotionMaxAccel (double maxAccel, int slotID=0) override
 
REVLibError SetSmartMotionMinOutputVelocity (double minVel, int slotID=0) override
 
REVLibError SetSmartMotionAllowedClosedLoopError (double allowedErr, int slotID=0) override
 
REVLibError SetSmartMotionAccelStrategy (SparkMaxPIDController::AccelStrategy accelStrategy, int slotID=0)
 
REVLibError SetSmartMotionAccelStrategy (CANPIDController::AccelStrategy accelStrategy, int slotID=0) override
 
double GetSmartMotionMaxVelocity (int slotID=0) const override
 
double GetSmartMotionMaxAccel (int slotID=0) const override
 
double GetSmartMotionMinOutputVelocity (int slotID=0) const override
 
double GetSmartMotionAllowedClosedLoopError (int slotID=0) const override
 
AccelStrategy GetSmartMotionAccelStrategy (int slotID=0) const
 
REVLibError SetIMaxAccum (double iMaxAccum, int slotID=0) override
 
double GetIMaxAccum (int slotID=0) const override
 
REVLibError SetIAccum (double iAccum) override
 
double GetIAccum () const override
 
REVLibError SetFeedbackDevice (const CANSensor &sensor) override
 
REVLibError SetPositionPIDWrappingEnabled (bool enable)
 
REVLibError SetPositionPIDWrappingMaxInput (double value)
 
REVLibError SetPositionPIDWrappingMinInput (double value)
 
bool GetPositionPIDWrappingEnabled () const override
 
double GetPositionPIDWrappingMaxInput () const override
 
double GetPositionPIDWrappingMinInput () const override
 

Friends

class CANSparkBase
 

Member Enumeration Documentation

◆ AccelStrategy

enum class rev::SparkPIDController::AccelStrategy
strong

Acceleration strategy used by Smart Motion

Enumerator
kTrapezoidal 
kSCurve 

◆ ArbFFUnits

enum class rev::SparkPIDController::ArbFFUnits
strong

Units for arbitrary feed-forward

Enumerator
kVoltage 
kPercentOut 

Constructor & Destructor Documentation

◆ SparkPIDController() [1/2]

rev::SparkPIDController::SparkPIDController ( SparkPIDController &&  )
default

◆ SparkPIDController() [2/2]

rev::SparkPIDController::SparkPIDController ( const SparkPIDController &  rhs)
default

◆ ~SparkPIDController()

rev::SparkPIDController::~SparkPIDController ( )
overridedefault

Member Function Documentation

◆ operator=()

SparkPIDController & rev::SparkPIDController::operator= ( SparkPIDController &&  )
default

Friends And Related Function Documentation

◆ CANSparkBase

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