#include <ServoHub.h>

Inherits rev::servohub::ServoHubLowLevel.

Classes
struct	Faults

struct	Warnings

Public Types
enum class	ResetMode { kNoResetSafeParameters , kResetSafeParameters }

enum class	Bank { kBank0_2 = 0 , kBank3_5 = 1 }

Public Types inherited from rev::servohub::ServoHubLowLevel
enum class	CommunicationMode { kNone = 0 , kCAN = 1 , kRS_485 = 2 }

Public Member Functions
	ServoHub (int busID, int deviceID)

	~ServoHub () override

REVLibError	Configure (ServoHubConfig &config, ResetMode resetMode=ResetMode::kNoResetSafeParameters)

REVLibError	Configure (ServoHubConfig &config, rev::ResetMode resetMode=rev::ResetMode::kNoResetSafeParameters)

REVLibError	ConfigureAsync (ServoHubConfig &config, ResetMode resetMode=ResetMode::kNoResetSafeParameters)

REVLibError	ConfigureAsync (ServoHubConfig &config, rev::ResetMode resetMode=rev::ResetMode::kNoResetSafeParameters)

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

REVLibError	ClearFaults ()

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

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

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

ServoChannel &	GetServoChannel (ServoChannel::ChannelId channelId)

REVLibError	SetBankPulsePeriod (Bank bank, int pulsePeriod_us)

Public Member Functions inherited from rev::servohub::ServoHubLowLevel
virtual	~ServoHubLowLevel ()

int	GetBusId () const

int	GetDeviceId () const

FirmwareVersion	GetFirmwareVersion () const

std::string	GetFirmwareVersionString () const

void	SetPeriodicFrameTimeout (int timeout_ms)

REVLibError	SetCANTimeout (int timeout_ms)

void	SetCANMaxRetries (int numRetries)

void	SetControlFramePeriodMs (int period_ms)

int	GetControlFramePeriodMs () const

rev::util::Signal< PeriodicStatus0 >	GetPeriodicStatus0 () const

rev::util::Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const

rev::util::Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const

rev::util::Signal< PeriodicStatus3 >	GetPeriodicStatus3 () const

rev::util::Signal< PeriodicStatus4 >	GetPeriodicStatus4 () const

void	CreateSimFaultManager ()

Public Attributes
ServoHubConfigAccessor	configAccessor

Friends
class	ServoHubSim

Additional Inherited Members
Protected Member Functions inherited from rev::servohub::ServoHubLowLevel
	ServoHubLowLevel (int busID, int deviceID)

Protected Attributes inherited from rev::servohub::ServoHubLowLevel
void *	m_servoHubHandle {nullptr}

Member Enumeration Documentation

◆ ResetMode

enum class rev::servohub::ServoHub::ResetMode

strong

Enumerator
kNoResetSafeParameters
kResetSafeParameters

◆ Bank

enum class rev::servohub::ServoHub::Bank

strong

Enumerator
kBank0_2
kBank3_5

Constructor & Destructor Documentation

◆ ServoHub()

ServoHub::ServoHub	(	int	busID,
		int	deviceID
	)

Create a new object to control a ServoHub Servo Controller

Parameters

busID	The CAN bus ID this device will be on.
deviceID	The device ID.

◆ ~ServoHub()

ServoHub::~ServoHub ( )

override

Closes the ServoHub

Member Function Documentation

◆ Configure() [1/2]

REVLibError ServoHub::Configure	(	ServoHubConfig &	config,
		ResetMode	resetMode = `ResetMode::kNoResetSafeParameters`
	)

Set the configuration for the ServoHub.

If resetMode is ResetMode::kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration.

Parameters

config	The desired ServoHub configuration
resetMode	Whether to reset safe parameters before setting the configuration

Returns: REVLibError::kOk if successful

Deprecated:: Use Configure(ServoHubConfig&, rev::ResetMode) instead. This method will be removed in 2027.

◆ Configure() [2/2]

REVLibError ServoHub::Configure	(	ServoHubConfig &	config,
		rev::ResetMode	resetMode = `rev::ResetMode::kNoResetSafeParameters`
	)

Set the configuration for the ServoHub.

If resetMode is ResetMode::kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration.

Parameters

config	The desired ServoHub configuration
resetMode	Whether to reset safe parameters before setting the configuration

Returns: REVLibError::kOk if successful

◆ ConfigureAsync() [1/2]

REVLibError ServoHub::ConfigureAsync	(	ServoHubConfig &	config,
		ResetMode	resetMode = `ResetMode::kNoResetSafeParameters`
	)

Set the configuration for the ServoHub without waiting for a response.

If resetMode is ResetMode::kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration.

NOTE: This method will immediately return REVLibError::kOk and the action will be done in the background. Any errors that occur will be reported to the driver station.

Parameters

config	The desired ServoHub configuration
resetMode	Whether to reset safe parameters before setting the configuration

Returns: REVLibError::kOk

See also: Configure()

Deprecated:: Use ConfigureAsync(ServoHubConfig&, rev::ResetMode) instead. This method will be removed in 2027.

◆ ConfigureAsync() [2/2]

REVLibError ServoHub::ConfigureAsync	(	ServoHubConfig &	config,
		rev::ResetMode	resetMode = `rev::ResetMode::kNoResetSafeParameters`
	)

Set the configuration for the ServoHub without waiting for a response.

If resetMode is ResetMode::kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration.

NOTE: This method will immediately return REVLibError::kOk and the action will be done in the background. Any errors that occur will be reported to the driver station.

Parameters

config	The desired ServoHub configuration
resetMode	Whether to reset safe parameters before setting the configuration

Returns: REVLibError::kOk

See also: Configure()

◆ HasActiveFault()

Signal< bool > ServoHub::HasActiveFault ( ) const

Get whether the ServoHub has one or more active faults.

Returns: Signal containing true if there is an active fault

See also: GetFaults()

◆ HasStickyFault()

Signal< bool > ServoHub::HasStickyFault ( ) const

Get whether the ServoHub has one or more sticky faults.

Returns: Signal containing true if there is a sticky fault

See also: GetStickyFaults()

◆ HasActiveWarning()

Signal< bool > ServoHub::HasActiveWarning ( ) const

Get whether the ServoHub has one or more active warnings.

Returns: Signal containing true if there is an active warning

See also: GetWarnings()

◆ HasStickyWarning()

Signal< bool > ServoHub::HasStickyWarning ( ) const

Get whether the ServoHub has one or more sticky warnings.

Returns: Signal containing true if there is a sticky warning

See also: GetStickyWarnings()

◆ GetFaults()

Signal< ServoHub::Faults > ServoHub::GetFaults ( ) const

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

Returns: Signal containing a struct with each fault and their active value

◆ GetStickyFaults()

Signal< ServoHub::Faults > ServoHub::GetStickyFaults ( ) const

Get the sticky faults that were present on the ServoHub 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 ServoHub::ClearFaults().

Returns: Signal containing a struct with each fault and their sticky value

◆ GetWarnings()

Signal< ServoHub::Warnings > ServoHub::GetWarnings ( ) const

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

Returns: Signal containing a struct with each warning and their active value

◆ GetStickyWarnings()

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

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

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

Returns: Signal containing a struct with each warning and their sticky value

◆ ClearFaults()

REVLibError ServoHub::ClearFaults ( )

Clears all non-sticky faults.

Sticky faults must be cleared by resetting the motor controller.

◆ GetDeviceVoltage()

Signal< double > ServoHub::GetDeviceVoltage ( ) const

Returns: Signal containing the voltage fed into the servo controller.

◆ GetDeviceCurrent()

Signal< double > ServoHub::GetDeviceCurrent ( ) const

Returns: Signal containing the servo controller's output current in Amps.

◆ GetServoVoltage()

Signal< double > ServoHub::GetServoVoltage ( ) const

Returns: Signal containing the voltage fed to the actual servos.

◆ GetServoChannel()

ServoChannel & ServoHub::GetServoChannel ( ServoChannel::ChannelId channelId )

Returns an object to control a specific servo channel.

Parameters

channelId The specific servo channel to get

Returns: The specified ServoChannel

◆ SetBankPulsePeriod()

REVLibError ServoHub::SetBankPulsePeriod	(	Bank	bank,
		int	pulsePeriod_us
	)

Set the Pulse Period for servo channels 0-2 or servo channels 3-5.

Parameters

bank	The bank of channels (0-2 or 3-5) to set
pulsePeriod_us	The pulse period in microseconds

Returns: REVLibError::kOk if successful

Friends And Related Function Documentation

◆ ServoHubSim

friend class ServoHubSim

friend

Member Data Documentation

◆ configAccessor

ServoHubConfigAccessor rev::servohub::ServoHub::configAccessor

Accessor for ServoHub parameter values. This object contains fields and methods to retrieve parameters that have been applied to the device. To set parameters, see ServoHubConfig and ServoHub::Configure().

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

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

src/main/native/include/rev/ServoHub.h
src/main/native/cpp/ServoHub.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

◆ ResetMode

◆ Bank

Constructor & Destructor Documentation

◆ ServoHub()

◆ ~ServoHub()

Member Function Documentation

◆ Configure() [1/2]

◆ Configure() [2/2]

◆ ConfigureAsync() [1/2]

◆ ConfigureAsync() [2/2]

◆ HasActiveFault()

◆ HasStickyFault()

◆ HasActiveWarning()

◆ HasStickyWarning()

◆ GetFaults()

◆ GetStickyFaults()

◆ GetWarnings()

◆ GetStickyWarnings()

◆ ClearFaults()

◆ GetDeviceVoltage()

◆ GetDeviceCurrent()

◆ GetServoVoltage()

◆ GetServoChannel()

◆ SetBankPulsePeriod()

Friends And Related Function Documentation

◆ ServoHubSim

Member Data Documentation

◆ configAccessor