rev::spark::MAXMotionConfig Class Reference

#include <MAXMotionConfig.h>

Inherits rev::spark::BaseConfig.

Public Types
enum	MAXMotionPositionMode : uint32_t { kMAXMotionTrapezoidal = 0 }

Public Member Functions
	MAXMotionConfig ()=default
	~MAXMotionConfig () override=default
	MAXMotionConfig (const MAXMotionConfig &)=delete
MAXMotionConfig &	operator= (const MAXMotionConfig &)=delete
	MAXMotionConfig (MAXMotionConfig &&) noexcept=delete
MAXMotionConfig &	operator= (MAXMotionConfig &&) noexcept=delete
MAXMotionConfig &	Apply (MAXMotionConfig &config)
MAXMotionConfig &	MaxVelocity (double maxVelocity, ClosedLoopSlot slot=kSlot0)
MAXMotionConfig &	MaxAcceleration (double maxAcceleration, ClosedLoopSlot slot=kSlot0)
MAXMotionConfig &	AllowedClosedLoopError (double allowedError, ClosedLoopSlot slot=kSlot0)
MAXMotionConfig &	PositionMode (MAXMotionPositionMode mode, ClosedLoopSlot slot=kSlot0)
Public Member Functions inherited from rev::spark::BaseConfig
virtual	~BaseConfig ()=default
virtual std::string	Flatten ()

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

MAXMotionPositionMode

enum rev::spark::MAXMotionConfig::MAXMotionPositionMode : uint32_t

Enumerator
kMAXMotionTrapezoidal

Constructor & Destructor Documentation

MAXMotionConfig() [1/3]

rev::spark::MAXMotionConfig::MAXMotionConfig ( )

default

~MAXMotionConfig()

rev::spark::MAXMotionConfig::~MAXMotionConfig ( )

overridedefault

MAXMotionConfig() [2/3]

rev::spark::MAXMotionConfig::MAXMotionConfig ( const MAXMotionConfig &  )

delete

MAXMotionConfig() [3/3]

rev::spark::MAXMotionConfig::MAXMotionConfig ( MAXMotionConfig &&  )

deletenoexcept

Member Function Documentation

operator=() [1/2]

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

delete

operator=() [2/2]

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

deletenoexcept

Apply()

MAXMotionConfig & MAXMotionConfig::Apply

(

MAXMotionConfig &

config

)

Applies settings from another MAXMotionConfig 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 MAXMotionConfig to copy settings from

Returns

The updated MAXMotionConfig for method chaining

MaxVelocity()

MAXMotionConfig & MAXMotionConfig::MaxVelocity	(	double	maxVelocity,
		ClosedLoopSlot	slot = kSlot0
	)

Set the maximum velocity for the MAXMotion mode of the controller for a specific closed loop slot. This is the cruising velocity of the profile. Natively, the units are in RPM but will be affected by the velocity conversion factor.

Parameters

maxVelocity	The maximum velocity with the velocity conversion factor applied
slot	The closed loop slot to set the values for

Returns

The modified MAXMotionConfig object for method chaining

MaxAcceleration()

MAXMotionConfig & MAXMotionConfig::MaxAcceleration	(	double	maxAcceleration,
		ClosedLoopSlot	slot = kSlot0
	)

Set the maximum acceleration for the MAXMotion mode of the controller for a specific closed loop slot. This is the rate at which the velocity will increase until the max velocity is reached. Natively, the units are in RPM per second but will be affected by the velocity conversion factor.

Parameters

maxAcceleration	The maximum acceleration with the velocity conversion factor applied
slot	The closed loop slot to set the values for

Returns

The modified MAXMotionConfig object for method chaining

AllowedClosedLoopError()

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

Set the allowed closed loop error for the MAXMotion mode of 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. Natively, the units are in rotations but will be affected by the position conversion factor.

Parameters

allowedError	The allowed error with the position conversion factor applied
slot	The closed loop slot to set the values for

Returns

The modified MAXMotionConfig object for method chaining

PositionMode()

MAXMotionConfig & MAXMotionConfig::PositionMode	(	MAXMotionPositionMode	mode,
		ClosedLoopSlot	slot = kSlot0
	)

Set the MAXMotion position control mode of the controller for a specific closed loop slot.

Parameters

mode	The MAXmotion position mode
slot	The closed loop slot to set the values for

Returns

The modified MAXMotionConfig object for method chaining

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

• src/main/native/include/rev/config/MAXMotionConfig.h
• src/main/native/cpp/config/MAXMotionConfig.cpp