#include <ClosedLoopConfig.h>

Inherits rev::BaseConfig.

Public Member Functions
	ClosedLoopConfig ()=default

	~ClosedLoopConfig () override=default

	ClosedLoopConfig (const ClosedLoopConfig &)=default

ClosedLoopConfig &	operator= (const ClosedLoopConfig &)=delete

	ClosedLoopConfig (ClosedLoopConfig &&) noexcept=delete

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

ClosedLoopConfig &	Apply (ClosedLoopConfig &config)

ClosedLoopConfig &	Apply (MAXMotionConfig &config)

ClosedLoopConfig &	Apply (FeedForwardConfig &config)

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 &	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 &	AllowedClosedLoopError (double allowedError, ClosedLoopSlot slot=kSlot0)

ClosedLoopConfig &	PositionWrappingEnabled (bool enabled)

ClosedLoopConfig &	SetFeedbackSensor (FeedbackSensor sensor)

ClosedLoopConfig &	SetFeedbackSensor (FeedbackSensor sensor, int detachedEncoderDeviceId)

ClosedLoopConfig &	SetFeedbackSensor (FeedbackSensor sensor, const rev::detached::DetachedEncoder &detachedEncoder)

std::string	Flatten () override

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

Public Attributes
MAXMotionConfig	maxMotion

FeedForwardConfig	feedForward

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

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

	BaseConfig (const BaseConfig &)=default

BaseConfig &	operator= (const BaseConfig &)=delete

	BaseConfig (BaseConfig &&) noexcept=delete

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

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

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

void	RemoveParameter (uint8_t parameterId)

void	Apply (BaseConfig &config)

Static Protected Member Functions inherited from rev::BaseConfig
static std::optional< ParameterType_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)

static void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

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 & )

default

◆ 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 ( 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

◆ Apply() [3/3]

ClosedLoopConfig & ClosedLoopConfig::Apply ( FeedForwardConfig & config )

Applies settings from a FeedForwardConfig 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 FeedForwardConfig to copy settings from

Returns: The updated ClosedLoopConfig 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

◆ 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

◆ AllowedClosedLoopError()

ClosedLoopConfig & ClosedLoopConfig::AllowedClosedLoopError	(	double	allowedError,
		ClosedLoopSlot	slot = kSlot0 )

Set the allowed closed loop error for the controller for a specific PID slot. This value is how much deviation from the setpoint is tolerated and is useful in preventing oscillation around the setpoint. The units are in rotations.

Parameters

allowedError	The allowed error
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

◆ SetFeedbackSensor() [1/3]

ClosedLoopConfig & ClosedLoopConfig::SetFeedbackSensor ( FeedbackSensor sensor )

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

To set a detached encoder, use SetFeedbackSensor(FeedbackSensor, int) or SetFeedbackSensor(FeedbackSensor, rev::detached::DetachedEncoder&) instead. This method will ignore sensor set to a Detached sensor.

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 attached feedback sensor

Returns: The modified ClosedLoopConfig object for method chaining

◆ SetFeedbackSensor() [2/3]

ClosedLoopConfig & ClosedLoopConfig::SetFeedbackSensor	(	FeedbackSensor	sensor,
		int	detachedEncoderDeviceId )

Set an external CAN Detached Encoder as the feedback sensor of the controller. The controller will use this sensor as the source of feedback for its closed loop control.

To set an attached encoder, use the SetFeedbackSensor(FeedbackSensor) method instead. This method will ignore sensor set to an attached sensor.

Parameters

sensor The detached feedback sensor @detachedEncoderDeviceId The device ID of the detached CAN encoder to use

Returns: The modified ClosedLoopConfig object for method chaining

◆ SetFeedbackSensor() [3/3]

ClosedLoopConfig & ClosedLoopConfig::SetFeedbackSensor	(	FeedbackSensor	sensor,
		const rev::detached::DetachedEncoder &	detachedEncoder )

Set an external CAN Detached Encoder as the feedback sensor of the controller. The controller will use this sensor as the source of feedback for its closed loop control.

To set an attached encoder, use the SetFeedbackSensor(FeedbackSensor) method instead. This method will ignore sensor set to an attached sensor.

Parameters

sensor The detached feedback sensor @splineEncoder The detached CAN encoder to use

Returns: The modified ClosedLoopConfig object for method chaining

◆ Flatten()

std::string ClosedLoopConfig::Flatten ( )

overridevirtual

Reimplemented from rev::BaseConfig.

Member Data Documentation

◆ maxMotion

MAXMotionConfig rev::spark::ClosedLoopConfig::maxMotion

◆ feedForward

FeedForwardConfig rev::spark::ClosedLoopConfig::feedForward

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 Member Functions

Public Attributes

Additional Inherited Members

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]

◆ Pid()

◆ P()

◆ I()

◆ D()

◆ DFilter()

◆ IZone()

◆ MinOutput()

◆ MaxOutput()

◆ OutputRange()

◆ IMaxAccum()

◆ AllowedClosedLoopError()

◆ PositionWrappingEnabled()

◆ SetFeedbackSensor() [1/3]

◆ SetFeedbackSensor() [2/3]

◆ SetFeedbackSensor() [3/3]

◆ Flatten()

Member Data Documentation

◆ maxMotion

◆ feedForward