#include <FeedForwardConfig.h>

Inherits rev::BaseConfig.

Public Member Functions
	FeedForwardConfig ()=default

	~FeedForwardConfig () override=default

	FeedForwardConfig (const FeedForwardConfig &)=delete

FeedForwardConfig &	operator= (const FeedForwardConfig &)=delete

	FeedForwardConfig (FeedForwardConfig &&) noexcept=delete

FeedForwardConfig &	operator= (FeedForwardConfig &&) noexcept=delete

FeedForwardConfig &	Apply (FeedForwardConfig &config)

FeedForwardConfig &	kS (double kS, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	kV (double kV, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	kA (double kA, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	kG (double kG, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	kCos (double kCos, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	kCosRatio (double kCosRatio, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	sv (double kS, double kV, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	sva (double kS, double kV, double kA, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	svag (double kS, double kV, double kA, double kG, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	svacr (double kS, double kV, double kA, double kCos, double kCosRatio, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	sg (double kS, double kG, ClosedLoopSlot slot=kSlot0)

FeedForwardConfig &	scr (double kS, double kCos, double kCosRatio, ClosedLoopSlot slot=kSlot0)

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

virtual std::string	Flatten ()

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

Protected Member Functions inherited from rev::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< REVLibConfig_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< REVLibConfig_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)

static void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

Constructor & Destructor Documentation

◆ FeedForwardConfig() [1/3]

rev::spark::FeedForwardConfig::FeedForwardConfig ( )

default

◆ ~FeedForwardConfig()

rev::spark::FeedForwardConfig::~FeedForwardConfig ( )

overridedefault

◆ FeedForwardConfig() [2/3]

rev::spark::FeedForwardConfig::FeedForwardConfig ( const FeedForwardConfig & )

delete

◆ FeedForwardConfig() [3/3]

rev::spark::FeedForwardConfig::FeedForwardConfig ( FeedForwardConfig && )

deletenoexcept

Member Function Documentation

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

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

deletenoexcept

◆ Apply()

FeedForwardConfig & FeedForwardConfig::Apply ( FeedForwardConfig & config )

Applies settings from another FeedForwardConfig to this one.

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 FeedForwardConfig for method chaining

◆ kS()

FeedForwardConfig & FeedForwardConfig::kS	(	double	kS,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS Static Gain of the controller for a specific closed loop slot.

Parameters

kS	The kS gain in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ kV()

FeedForwardConfig & FeedForwardConfig::kV	(	double	kV,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kV Velocity Gain of the controller for a specific closed loop slot.

This is not applied in Position control mode.

Parameters

kV	The kV gain in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ kA()

FeedForwardConfig & FeedForwardConfig::kA	(	double	kA,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kA Acceleration Gain of the controller for a specific closed loop slot.

This is only applied in MAXMotion control modes

Parameters

kA	The kA gain in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ kG()

FeedForwardConfig & FeedForwardConfig::kG	(	double	kG,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kG Static Gravity Gain of the controller for a specific closed loop slot.

This is statically applied, for an elevator or linear mechanism. Set it to 0 if kCos is being used.

This is only applied in Position and MAXMotion Position control modes

Parameters

kG	The kG gain in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ kCos()

FeedForwardConfig & FeedForwardConfig::kCos	(	double	kCos,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kCos Cosine Gravity Gain of the controller for a specific closed loop slot.

This is multiplied by the cosine of the absolute position of the mechanism (See kCosRatio, ClosedLoopSlot slot) for info on configuring this) for an arm mechanism. Set it to 0 if kG is being used.

This is only applied in Position and MAXMotion Position control modes

Parameters

kCos	The kCos gain in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ kCosRatio()

FeedForwardConfig & FeedForwardConfig::kCosRatio	(	double	kCosRatio,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kCosRatio of the controller for a specific closed loop slot.

This sets the ratio that is used to calculate the absolute position of your arm mechanism for use with kCos. This is applied after the conversion factor and should convert from those units to absolute rotations of your mechanism. Ensure your selected encoder is zeroed such that 0 = horizontal.

Parameters

kCosRatio	The kCosRatio in Volts
slot	The closed loop slot to set the values for

Returns: The modified FeedForwardConfig object for method chaining

◆ sv()

FeedForwardConfig & FeedForwardConfig::sv	(	double	kS,
		double	kV,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS and kV gains for the provided slot in one call.

For more information on the kS and kV gains, see FeedForwardConfig#kS(double) and FeedForwardConfig#kV(double).

Parameters

kS	The kS gain in Volts
kV	The kV gain in Volts per velocity

Returns: The modified FeedForwardConfig object for method chaining

◆ sva()

FeedForwardConfig & FeedForwardConfig::sva	(	double	kS,
		double	kV,
		double	kA,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS, kV, and kA gains for the provided slot in one call.

For more information on the kS, kV, and kA gains, see FeedForwardConfig#kS(double), FeedForwardConfig#kV(double), and FeedForwardConfig#kA(double).

Parameters

kS	The kS gain in Volts
kV	The kV gain in Volts per velocity
kA	The kA gain in Volts per velocity per second

Returns: The modified FeedForwardConfig object for method chaining

◆ svag()

FeedForwardConfig & FeedForwardConfig::svag	(	double	kS,
		double	kV,
		double	kA,
		double	kG,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS, kV, kA, and kG gains for the provided slot in one call.

For more information on the kS, kV, kA, and kG gains, see FeedForwardConfig#kS(double), FeedForwardConfig#kV(double), FeedForwardConfig#kA(double), and FeedForwardConfig#kG(double).

Parameters

kS	The kS gain in Volts
kV	The kV gain in Volts per velocity
kA	The kA gain in Volts per velocity per second
kG	The kG gain in Volts

Returns: The modified FeedForwardConfig object for method chaining

◆ svacr()

FeedForwardConfig & FeedForwardConfig::svacr	(	double	kS,
		double	kV,
		double	kA,
		double	kCos,
		double	kCosRatio,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS, kV, kA, kCos, and kCosRatio gains for the provided slot in one call.

For more information on the kS, kV, kA, kCos, and kCosRatio gains, see FeedForwardConfig#kS(double), FeedForwardConfig#kV(double), FeedForwardConfig#kA(double), FeedForwardConfig#kCos(double), and FeedForwardConfig#kCosRatio(double).

Parameters

kS	The kS gain in Volts
kV	The kV gain in Volts per velocity
kA	The kA gain in Volts per velocity per second
kCos	The kCos gain in Volts
kCosRatio	The ratio used to calculate the absolute position of your arm mechanism for use with kCos

Returns: The modified FeedForwardConfig object for method chaining

◆ sg()

FeedForwardConfig & FeedForwardConfig::sg	(	double	kS,
		double	kG,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS and kG gains for the provided slot in one call.

For more information on the kS and kG gains, see FeedForwardConfig#kS(double) and FeedForwardConfig#kG(double).

Parameters

kS	The kS gain in Volts
kG	The kG gain in Volts

Returns: The modified FeedForwardConfig object for method chaining

◆ scr()

FeedForwardConfig & FeedForwardConfig::scr	(	double	kS,
		double	kCos,
		double	kCosRatio,
		ClosedLoopSlot	slot = `kSlot0`
	)

Set the kS, kCos, and kCosRatio gains for the provided slot in one call.

For more information on the kS, kCos, and kCosRatio gains, see FeedForwardConfig#kS(double), FeedForwardConfig#kCos(double), and FeedForwardConfig#kCosRatio(double).

Parameters

kS	The kS gain in Volts
kCos	The kCos gain in Volts
kCosRatio	The ratio used to calculate the absolute position of your arm mechanism for use with kCos

Returns: The modified FeedForwardConfig object for method chaining

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

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

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ FeedForwardConfig() [1/3]

◆ ~FeedForwardConfig()

◆ FeedForwardConfig() [2/3]

◆ FeedForwardConfig() [3/3]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Apply()

◆ kS()

◆ kV()

◆ kA()

◆ kG()

◆ kCos()

◆ kCosRatio()

◆ sv()

◆ sva()

◆ svag()

◆ svacr()

◆ sg()

◆ scr()