rev::spark::SmartMotionConfig Class Reference

#include <SmartMotionConfig.h>

Inherits rev::spark::BaseConfig.

Public Member Functions
	SmartMotionConfig ()=default
	~SmartMotionConfig () override=default
	SmartMotionConfig (const SmartMotionConfig &)=delete
SmartMotionConfig &	operator= (const SmartMotionConfig &)=delete
	SmartMotionConfig (SmartMotionConfig &&) noexcept=delete
SmartMotionConfig &	operator= (SmartMotionConfig &&) noexcept=delete
SmartMotionConfig &	Apply (SmartMotionConfig &config)
SmartMotionConfig &	MaxVelocity (double maxVelocity, ClosedLoopSlot slot=kSlot0)
SmartMotionConfig &	MaxAcceleration (double maxAcceleration, ClosedLoopSlot slot=kSlot0)
SmartMotionConfig &	MinOutputVelocity (double minVelocity, ClosedLoopSlot slot=kSlot0)
SmartMotionConfig &	AllowedClosedLoopError (double allowedError, 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)

Constructor & Destructor Documentation

SmartMotionConfig() [1/3]

rev::spark::SmartMotionConfig::SmartMotionConfig ( )

default

~SmartMotionConfig()

rev::spark::SmartMotionConfig::~SmartMotionConfig ( )

overridedefault

SmartMotionConfig() [2/3]

rev::spark::SmartMotionConfig::SmartMotionConfig ( const SmartMotionConfig &  )

delete

SmartMotionConfig() [3/3]

rev::spark::SmartMotionConfig::SmartMotionConfig ( SmartMotionConfig &&  )

deletenoexcept

Member Function Documentation

operator=() [1/2]

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

delete

operator=() [2/2]

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

deletenoexcept

Apply()

SmartMotionConfig & SmartMotionConfig::Apply

(

SmartMotionConfig &

config

)

Applies settings from another SmartMotionConfig 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 SmartMotionConfig to copy settings from

Returns

The updated SmartMotionConfig for method chaining

MaxVelocity()

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

Set the maximum velocity for the Smart Motion mode of the controller. This is the cruising velocity of the profile. Natively, the units are in RPM but will be affected by the velocity conversion factor.

This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use SmartMotionConfig::MaxVelocity(double, ClosedLoopSlot).

Parameters

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

Returns

The modified SmartMotionConfig object for method chaining

Deprecated:

It is recommended to migrate to MAXMotion instead.

MaxAcceleration()

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

Set the maximum acceleration for the Smart Motion mode of the controller for a specific PID 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 SmartMotionConfig object for method chaining

Deprecated:

It is recommended to migrate to MAXMotion instead.

MinOutputVelocity()

SmartMotionConfig & SmartMotionConfig::MinOutputVelocity	(	double	minVelocity,
		ClosedLoopSlot	slot = kSlot0
	)

Set the minimum velocity for the Smart Motion mode of the controller for a specific closed loop slot. Any requested velocities below this value will be set to 0. Natively, the units are in RPM but will be affected by the velocity conversion factor.

Parameters

minVelocity	The minimum velocity with the velocity conversion factor applied
slot	The closed loop slot to set the values for

Returns

The modified SmartMotionConfig object for method chaining

Deprecated:

It is recommended to migrate to MAXMotion instead.

AllowedClosedLoopError()

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

Set the allowed closed loop error for the Smart Motion mode of the controller for a specific closed loop 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 SmartMotionConfig object for method chaining

Deprecated:

It is recommended to migrate to MAXMotion instead.

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

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