#include <ClosedLoopConfig.h>

Inherits rev::spark::BaseConfig.

Public Types
enum	FeedbackSensor : uint32_t { kNoSensor = 0 , kPrimaryEncoder = 1 , kAnalogSensor = 2 , kAlternateOrExternalEncoder = 3 , kAbsoluteEncoder = 4 }

Public Member Functions
	ClosedLoopConfig ()=default

	~ClosedLoopConfig () override=default

	ClosedLoopConfig (const ClosedLoopConfig &)=delete

ClosedLoopConfig &	operator= (const ClosedLoopConfig &)=delete

	ClosedLoopConfig (ClosedLoopConfig &&) noexcept=delete

ClosedLoopConfig &	operator= (ClosedLoopConfig &&) noexcept=delete

ClosedLoopConfig &	Apply (ClosedLoopConfig &config)

ClosedLoopConfig &	Apply (SmartMotionConfig &config)

ClosedLoopConfig &	Apply (MAXMotionConfig &config)

ClosedLoopConfig &	Pidf (double p, double i, double d, double ff, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	Pid (double p, double i, double d, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	P (double p, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	I (double i, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	D (double d, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	VelocityFF (double ff, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	DFilter (double dFilter, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	IZone (double iZone, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	MinOutput (double minOutput, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	MaxOutput (double maxOutput, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	OutputRange (double minOutput, double maxOutput, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	IMaxAccum (double iMaxAccum, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	PositionWrappingEnabled (bool enabled)

ClosedLoopConfig &	PositionWrappingMinInput (double minInput)

ClosedLoopConfig &	PositionWrappingMaxInput (double maxInput)

ClosedLoopConfig &	PositionWrappingInputRange (double minInput, double maxInput)

ClosedLoopConfig &	SetFeedbackSensor (FeedbackSensor sensor)

std::string	Flatten () override

Public Member Functions inherited from rev::spark::BaseConfig
virtual	~BaseConfig ()=default

Public Attributes
MAXMotionConfig	maxMotion

SmartMotionConfig	smartMotion

Additional Inherited Members
Protected Types inherited from rev::spark::BaseConfig
using	SparkConfig_t = std::variant< int32_t, uint32_t, float, bool >

Protected Member Functions inherited from rev::spark::BaseConfig
	BaseConfig ()=default

	BaseConfig (const BaseConfig &)=delete

BaseConfig &	operator= (const BaseConfig &)=delete

	BaseConfig (BaseConfig &&) noexcept=delete

BaseConfig &	operator= (BaseConfig &&) noexcept=delete

template<typename ConfigType >
void	PutParameter (uint8_t parameterId, ConfigType value)

std::optional< SparkConfig_t >	GetParameter (uint8_t parameterId)

std::optional< SparkConfig_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)

void	RemoveParameter (uint8_t parameterId)

void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

void	Apply (BaseConfig &config)

Member Enumeration Documentation

◆ FeedbackSensor

enum rev::spark::ClosedLoopConfig::FeedbackSensor : uint32_t

Enumerator
kNoSensor
kPrimaryEncoder
kAnalogSensor
kAlternateOrExternalEncoder
kAbsoluteEncoder

Constructor & Destructor Documentation

◆ ClosedLoopConfig() [1/3]

rev::spark::ClosedLoopConfig::ClosedLoopConfig ( )

default

◆ ~ClosedLoopConfig()

rev::spark::ClosedLoopConfig::~ClosedLoopConfig ( )

overridedefault

◆ ClosedLoopConfig() [2/3]

rev::spark::ClosedLoopConfig::ClosedLoopConfig ( const ClosedLoopConfig & )

delete

◆ ClosedLoopConfig() [3/3]

rev::spark::ClosedLoopConfig::ClosedLoopConfig ( ClosedLoopConfig && )

deletenoexcept

Member Function Documentation

◆ operator=() [1/2]

ClosedLoopConfig & rev::spark::ClosedLoopConfig::operator= ( const ClosedLoopConfig & )

delete

◆ operator=() [2/2]

ClosedLoopConfig & rev::spark::ClosedLoopConfig::operator= ( ClosedLoopConfig && )

deletenoexcept

◆ Apply() [1/3]

ClosedLoopConfig & ClosedLoopConfig::Apply ( ClosedLoopConfig & config )

Applies settings from another ClosedLoopConfig to this one, including all of its nested configurations.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The ClosedLoopConfig to copy settings from

Returns: The updated ClosedLoopConfig for method chaining

◆ Apply() [2/3]

ClosedLoopConfig & ClosedLoopConfig::Apply ( SmartMotionConfig & config )

Applies settings from a SmartMotionConfig to this ClosedLoopConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The SmartMotionConfig to copy settings from

Returns: The updated ClosedLoopConfig for method chaining

◆ Apply() [3/3]

ClosedLoopConfig & ClosedLoopConfig::Apply ( MAXMotionConfig & config )

Applies settings from a MAXMotionConfig to this ClosedLoopConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The MAXMotionConfig to copy settings from

Returns: The updated ClosedLoopConfig for method chaining

◆ Pidf()

ClosedLoopConfig & ClosedLoopConfig::Pidf	(	double	p,
		double	i,
		double	d,
		double	ff,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the PIDF gains of the controller for a specific closed loop slot.

Parameters

p	The proportional gain value
i	The integral gain value
d	The derivative gain value
ff	The velocity feedforward value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ Pid()

ClosedLoopConfig & ClosedLoopConfig::Pid	(	double	p,
		double	i,
		double	d,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the PID gains of the controller for a specific closed loop slot.

Parameters

p	The proportional gain value
i	The integral gain value
d	The derivative gain value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ P()

ClosedLoopConfig & ClosedLoopConfig::P	(	double	p,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the proportional gain of the controller for a specific closed loop slot.

Parameters

p	The proportional gain value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ I()

ClosedLoopConfig & ClosedLoopConfig::I	(	double	i,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the integral gain of the controller for a specific closed loop slot.

Parameters

i	The integral gain value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ D()

ClosedLoopConfig & ClosedLoopConfig::D	(	double	d,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the derivative gain of the controller for a specific closed loop slot.

Parameters

d	The derivative gain value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ VelocityFF()

ClosedLoopConfig & ClosedLoopConfig::VelocityFF	(	double	ff,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the velocity feedforward gain of the controller for a specific closed loop slot.

Parameters

ff	The velocity feedforward gain value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ DFilter()

ClosedLoopConfig & ClosedLoopConfig::DFilter	(	double	dFilter,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the derivative filter of the controller for a specific closed loop slot.

Parameters

dFilter	The derivative filter value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ IZone()

ClosedLoopConfig & ClosedLoopConfig::IZone	(	double	iZone,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the integral zone of the controller for a specific closed loop slot.

Parameters

iZone	The integral zone value
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ MinOutput()

ClosedLoopConfig & ClosedLoopConfig::MinOutput	(	double	minOutput,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the minimum output of the controller for a specific closed loop slot.

Parameters

minOutput	The minimum output value in the range [-1, 1]
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ MaxOutput()

ClosedLoopConfig & ClosedLoopConfig::MaxOutput	(	double	maxOutput,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the maximum output of the controller for a specific closed loop slot.

Parameters

maxOutput	The maximum output value in the range [-1, 1]
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ OutputRange()

ClosedLoopConfig & ClosedLoopConfig::OutputRange	(	double	minOutput,
		double	maxOutput,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the output range of the controller for a specific closed loop slot.

Parameters

minOutput	The minimum output value in the range [-1, 1]
maxOutput	The maximum output value in the range [-1, 1]
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ IMaxAccum()

ClosedLoopConfig & ClosedLoopConfig::IMaxAccum	(	double	iMaxAccum,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the maximum I accumulator of the controller for a specific closed loop slot. This value is used to constrain the I accumulator to help manage integral wind-up.

Parameters

iMaxAccum	The max value to constrain the I accumulator to
slot	The closed loop slot to set the values for

Returns: The modified ClosedLoopConfig object for method chaining

◆ PositionWrappingEnabled()

ClosedLoopConfig & ClosedLoopConfig::PositionWrappingEnabled ( bool enabled )

Enable or disable PID wrapping for position closed loop control.

Parameters

enabled True to enable position PID wrapping

Returns: The modified ClosedLoopConfig object for method chaining

◆ PositionWrappingMinInput()

ClosedLoopConfig & ClosedLoopConfig::PositionWrappingMinInput ( double minInput )

Set the minimum input value for PID wrapping with position closed loop control.

Parameters

minInput The value of min input for the position

Returns: The modified ClosedLoopConfig object for method chaining

◆ PositionWrappingMaxInput()

ClosedLoopConfig & ClosedLoopConfig::PositionWrappingMaxInput ( double maxInput )

Set the maximum input value for PID wrapping with position closed loop control

Parameters

maxInput The value of max input for the position

Returns: The modified ClosedLoopConfig object for method chaining

◆ PositionWrappingInputRange()

ClosedLoopConfig & ClosedLoopConfig::PositionWrappingInputRange	(	double	minInput,
		double	maxInput
	)

Set the input range for PID wrapping with position closed loop control

Parameters

minInput	The value of min input for the position
maxInput	The value of max input for the position

Returns: The modified ClosedLoopConfig object for method chaining

◆ SetFeedbackSensor()

ClosedLoopConfig & ClosedLoopConfig::SetFeedbackSensor ( FeedbackSensor sensor )

Set the feedback sensor of the controller. The controller will use this sensor as the source of feedback for its closed loop control.

The default feedback sensor is assumed to be the primary encoder for either brushless or brushed mode. This can be changed to another feedback sensor for the controller such as an analog sensor, absolute encoder, or alternate/external encoder.

Parameters

sensor The feedback sensor

Returns: The modified ClosedLoopConfig object for method chaining

◆ Flatten()

std::string ClosedLoopConfig::Flatten ( )

overridevirtual

Reimplemented from rev::spark::BaseConfig.

Member Data Documentation

◆ maxMotion

MAXMotionConfig rev::spark::ClosedLoopConfig::maxMotion

◆ smartMotion

SmartMotionConfig rev::spark::ClosedLoopConfig::smartMotion

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

src/main/native/include/rev/config/ClosedLoopConfig.h
src/main/native/cpp/config/ClosedLoopConfig.cpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ FeedbackSensor

Constructor & Destructor Documentation

◆ ClosedLoopConfig() [1/3]

◆ ~ClosedLoopConfig()

◆ ClosedLoopConfig() [2/3]

◆ ClosedLoopConfig() [3/3]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Apply() [1/3]

◆ Apply() [2/3]

◆ Apply() [3/3]

◆ Pidf()

◆ Pid()

◆ P()

◆ I()

◆ D()

◆ VelocityFF()

◆ DFilter()

◆ IZone()

◆ MinOutput()

◆ MaxOutput()

◆ OutputRange()

◆ IMaxAccum()

◆ PositionWrappingEnabled()

◆ PositionWrappingMinInput()

◆ PositionWrappingMaxInput()

◆ PositionWrappingInputRange()

◆ SetFeedbackSensor()

◆ Flatten()

Member Data Documentation

◆ maxMotion

◆ smartMotion