rev::servohub::ServoHubSim Class Reference

#include <ServoHubSim.h>

Public Member Functions
	ServoHubSim (ServoHub *servoHub)
double	GetDeviceVoltage () const
void	SetDeviceVoltage (double voltage)
double	GetDeviceCurrent () const
void	SetDeviceCurrent (double current)
double	GetServoVoltage () const
void	SetServoVoltage (double voltage)
int	GetBankPulsePeriod (ServoHub::Bank bank) const
void	SetBankPulsePeriod (ServoHub::Bank bank, int pulsePeriod_us)
void	enable ()
void	disable ()
void	useDriverStationEnable ()
ServoHubSimFaultManager	GetFaultManager ()

Constructor & Destructor Documentation

ServoHubSim()

ServoHubSim::ServoHubSim ( ServoHub *  servoHub )

explicit

Create a simulated CAN Servo Hub object. This class simulates some of the internal behavior of the device. This class is not required to display to the sim GUI, but is required to interact with it.

Parameters

servoHub

The Servo Hub to simulate

Member Function Documentation

GetDeviceVoltage()

double ServoHubSim::GetDeviceVoltage

(

)

const

Get the simulated device voltage output. This matches the value from the ServoHub::GetDeviceVoltage().

Returns

device voltage in volts

SetDeviceVoltage()

void ServoHubSim::SetDeviceVoltage

(

double

voltage

)

Set the simulated device voltage.

Parameters

voltage

device voltage in volts

GetDeviceCurrent()

double ServoHubSim::GetDeviceCurrent

(

)

const

Get the simulated device current output. This matches the value from the ServoHub::GetDeviceCurrent().

Returns

device current in amps

SetDeviceCurrent()

void ServoHubSim::SetDeviceCurrent

(

double

current

)

Set the simulated device current.

Parameters

current

device current in amps

GetServoVoltage()

double ServoHubSim::GetServoVoltage

(

)

const

Get the simulated servo voltage output. This matches the value from the ServoHub::GetServoVoltage().

Returns

servo voltage in volts

SetServoVoltage()

void ServoHubSim::SetServoVoltage

(

double

voltage

)

Set the simulated device voltage.

Parameters

voltage

device voltage in volts

GetBankPulsePeriod()

int ServoHubSim::GetBankPulsePeriod

(

ServoHub::Bank

bank

)

const

Get the simulated bank pulse period. This matches the value from the ServoHub::GetBankPulsePeriod().

Parameters

bank	the specific bank (0-2, or 3-5)to get

Returns

pulse period (in microseconds)for the specified bank

SetBankPulsePeriod()

void ServoHubSim::SetBankPulsePeriod	(	ServoHub::Bank	bank,
		int	pulsePeriod_us
	)

Set the simulated bank pulse period

Parameters

bank	the specific bank (0-2, or 3-5)to get
pulsePeriod_us	pulse period (in microseconds)for the specified bank

enable()

void ServoHubSim::enable

(

)

Enable the Servo Hub Device.

disable()

void ServoHubSim::disable

(

)

Disable the Servo Hub Device

useDriverStationEnable()

void ServoHubSim::useDriverStationEnable

(

)

Use the driver station enable as the method to enable/disable the Servo Hub. This is the default, so you do not need to call this unless you previously called enable() or disable().

GetFaultManager()

ServoHubSimFaultManager ServoHubSim::GetFaultManager

(

)

Get the ServoHubSimFaultManager object associated with this Servo Hub Device. This will allow you to set simulated faults on your simulated device and view the Fault Manager in the Sim GUI.

Returns

The ServoHubSimFaultManager object associated with this Servo Hub Device

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

• src/main/native/include/rev/ServoHubSim.h
• src/main/native/cpp/ServoHubSim.cpp