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	SetReference (double value, SparkLowLevel::ControlType ctrl, int pidSlot=0, double arbFeedforward=0, SparkClosedLoopController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)
REVLibError	SetIAccum (double iAccum)
double	GetIAccum () 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

SetReference()

rev::REVLibError SparkClosedLoopController::SetReference	(	double	value,
		SparkLowLevel::ControlType	ctrl,
		int	pidSlot = 0,
		double	arbFeedforward = 0,
		SparkClosedLoopController::ArbFFUnits	arbFFUnits = ArbFFUnits::kVoltage
	)

Set the controller reference value based on the selected control mode.

Parameters

value	The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: 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 setPositionConversionFactor().
ctrl	Is the control type
pidSlot	for this command
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

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

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