rev::spark::SparkClosedLoopController Class Reference

#include <SparkClosedLoopController.h>

Public Types
enum class	ArbFFUnits { kVoltage = 0 , kPercentOut = 1 }

Public Member Functions
	SparkClosedLoopController (SparkClosedLoopController &&)=default
SparkClosedLoopController &	operator= (SparkClosedLoopController &&)=default
	SparkClosedLoopController (const SparkClosedLoopController &rhs)=default
	~SparkClosedLoopController ()=default
REVLibError	SetSetpoint (double setpoint, SparkLowLevel::ControlType ctrl, ClosedLoopSlot slot=ClosedLoopSlot::kSlot0, double arbFeedforward=0, SparkClosedLoopController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)
REVLibError	SetReference (double setpoint, SparkLowLevel::ControlType ctrl, ClosedLoopSlot slot=ClosedLoopSlot::kSlot0, double arbFeedforward=0, SparkClosedLoopController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)
SparkLowLevel::ControlType	GetControlType () const
REVLibError	SetIAccum (double iAccum)
double	GetIAccum () const
double	GetSetpoint () const
bool	IsAtSetpoint () const
ClosedLoopSlot	GetSelectedSlot () const
double	GetMAXMotionSetpointPosition () const
double	GetMAXMotionSetpointVelocity () const

Friends
class	SparkBase

Member Enumeration Documentation

ArbFFUnits

enum class rev::spark::SparkClosedLoopController::ArbFFUnits

strong

Units for arbitrary feed-forward

Enumerator
kVoltage
kPercentOut

Constructor & Destructor Documentation

SparkClosedLoopController() [1/2]

rev::spark::SparkClosedLoopController::SparkClosedLoopController ( SparkClosedLoopController &&  )

default

SparkClosedLoopController() [2/2]

rev::spark::SparkClosedLoopController::SparkClosedLoopController ( const SparkClosedLoopController &  rhs )

default

~SparkClosedLoopController()

rev::spark::SparkClosedLoopController::~SparkClosedLoopController ( )

default

Member Function Documentation

operator=()

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

default

SetSetpoint()

rev::REVLibError SparkClosedLoopController::SetSetpoint	(	double	setpoint,
		SparkLowLevel::ControlType	ctrl,
		ClosedLoopSlot	slot = ClosedLoopSlot::kSlot0,
		double	arbFeedforward = 0,
		SparkClosedLoopController::ArbFFUnits	arbFFUnits = ArbFFUnits::kVoltage
	)

Set the controller setpoint based on the selected control mode.

Parameters

setpoint	The setpoint to set depending on the control mode. For: basic duty cycle control this should be a value between -1 and 1 Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using AlternateEncoderConfig::PositionConversionFactor(), or ExternalEncoderConfig::PositionConversionFactor(), or EncoderConfig::PositionConversionFactor() or AlternateEncoderConfig::VelocityConversionFactor(), or ExternalEncoderConfig::VelocityConversionFactor(), or EncoderConfig::VelocityConversionFactor().
ctrl	Is the control type
slot	The ClosedLoopSlot to use
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
arbFFUnits	the units for arbitrary feed-forward

Returns

REVLibError::kOk if successful

SetReference()

rev::REVLibError SparkClosedLoopController::SetReference	(	double	setpoint,
		SparkLowLevel::ControlType	ctrl,
		ClosedLoopSlot	slot = ClosedLoopSlot::kSlot0,
		double	arbFeedforward = 0,
		SparkClosedLoopController::ArbFFUnits	arbFFUnits = ArbFFUnits::kVoltage
	)

Set the controller setpoint based on the selected control mode.

Parameters

setpoint	The setpoint to set depending on the control mode. For: basic duty cycle control this should be a value between -1 and 1 Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using AlternateEncoderConfig::PositionConversionFactor(), or ExternalEncoderConfig::PositionConversionFactor(), or EncoderConfig::PositionConversionFactor() or AlternateEncoderConfig::VelocityConversionFactor(), or ExternalEncoderConfig::VelocityConversionFactor(), or EncoderConfig::VelocityConversionFactor().
ctrl	Is the control type
slot	The ClosedLoopSlot to use
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
arbFFUnits	the units for arbitrary feed-forward

Returns

REVLibError::kOk if successful

Deprecated:

Use SetSetpoint instead.

GetControlType()

SparkLowLevel::ControlType rev::spark::SparkClosedLoopController::GetControlType ( ) const

inline

Get the selected control type used when SetReference() was called.

Returns

The selected control type

SetIAccum()

rev::REVLibError SparkClosedLoopController::SetIAccum

(

double

iAccum

)

Set the I accumulator of the closed loop controller. This is useful when wishing to force a reset on the I accumulator of the Closed Loop Controller. You can also preset values to see how it will respond to certain I characteristics

To use this function, the controller must be in a closed loop control mode by calling setReference()

Parameters

iAccum

The value to set the I accumulator to

Returns

REVLibError::kOk if successful

GetIAccum()

double SparkClosedLoopController::GetIAccum

(

)

const

Get the I accumulator of the closed loop controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning

Returns

The value of the I accumulator

GetSetpoint()

double SparkClosedLoopController::GetSetpoint

(

)

const

Get the internal setpoint of the closed loop controller.

Returns

The internal setpoint

IsAtSetpoint()

bool SparkClosedLoopController::IsAtSetpoint

(

)

const

Determine if the setpoint has been reached.

Returns

true if the setpoint is reached; false otherwise

GetSelectedSlot()

ClosedLoopSlot SparkClosedLoopController::GetSelectedSlot

(

)

const

Get the selected closed loop PID slot.

Returns

The selected closed loop PID slot

GetMAXMotionSetpointPosition()

double SparkClosedLoopController::GetMAXMotionSetpointPosition

(

)

const

Get the MAXMotion internal setpoint position.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns

The MAXMotion internal setpoint position in rotations or units specified by the conversion factor.

GetMAXMotionSetpointVelocity()

double SparkClosedLoopController::GetMAXMotionSetpointVelocity

(

)

const

Get the MAXMotion internal setpoint velocity.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns

The MAXMotion internal setpoint velocity in rotations per minute or units specified by the conversion factor.

Friends And Related Function Documentation

SparkBase

friend class SparkBase

friend

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

• src/main/native/include/rev/SparkClosedLoopController.h
• src/main/native/cpp/SparkClosedLoopController.cpp