#include <Victor.h>
Public Member Functions | |
Victor (uint32_t channel) | |
Victor (uint8_t moduleNumber, uint32_t channel) | |
virtual void | Set (float value, uint8_t syncGroup=0) |
virtual float | Get () |
virtual void | Disable () |
virtual void | PIDWrite (float output) |
Public Member Functions inherited from SafePWM | |
SafePWM (uint32_t channel) | |
SafePWM (uint8_t moduleNumber, uint32_t channel) | |
void | SetExpiration (float timeout) |
float | GetExpiration () |
bool | IsAlive () |
void | StopMotor () |
bool | IsSafetyEnabled () |
void | SetSafetyEnabled (bool enabled) |
void | GetDescription (char *desc) |
virtual void | SetSpeed (float speed) |
Public Member Functions inherited from PWM | |
PWM (uint32_t channel) | |
PWM (uint8_t moduleNumber, uint32_t channel) | |
virtual | ~PWM () |
virtual void | SetRaw (uint8_t value) |
virtual uint8_t | GetRaw () |
void | SetPeriodMultiplier (PeriodMultiplier mult) |
void | EnableDeadbandElimination (bool eliminateDeadband) |
void | SetBounds (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min) |
void | SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min) |
uint32_t | GetChannel () |
uint32_t | GetModuleNumber () |
Public Member Functions inherited from SensorBase | |
SensorBase () | |
virtual | ~SensorBase () |
Public Member Functions inherited from ErrorBase | |
virtual Error & | GetError () |
Retrieve the current error. Get the current error information associated with this sensor. | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
virtual void | SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (ErrorBase *rhs) const |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
Additional Inherited Members | |
Public Types inherited from PWM | |
enum | PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 } |
Static Public Member Functions inherited from SensorBase | |
static void | DeleteSingletons () |
static uint32_t | GetDefaultAnalogModule () |
static uint32_t | GetDefaultDigitalModule () |
static uint32_t | GetDefaultSolenoidModule () |
static bool | CheckAnalogModule (uint8_t moduleNumber) |
static bool | CheckDigitalModule (uint8_t moduleNumber) |
static bool | CheckPWMModule (uint8_t moduleNumber) |
static bool | CheckRelayModule (uint8_t moduleNumber) |
static bool | CheckSolenoidModule (uint8_t moduleNumber) |
static bool | CheckDigitalChannel (uint32_t channel) |
static bool | CheckRelayChannel (uint32_t channel) |
static bool | CheckPWMChannel (uint32_t channel) |
static bool | CheckAnalogChannel (uint32_t channel) |
static bool | CheckSolenoidChannel (uint32_t channel) |
Static Public Member Functions inherited from ErrorBase | |
static void | SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static void | SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static Error & | GetGlobalError () |
Static Public Attributes inherited from SensorBase | |
static const uint32_t | kSystemClockTicksPerMicrosecond = 40 |
static const uint32_t | kDigitalChannels = 14 |
static const uint32_t | kAnalogChannels = 8 |
static const uint32_t | kAnalogModules = 2 |
static const uint32_t | kDigitalModules = 2 |
static const uint32_t | kSolenoidChannels = 8 |
static const uint32_t | kSolenoidModules = 2 |
static const uint32_t | kPwmChannels = 10 |
static const uint32_t | kRelayChannels = 8 |
static const uint32_t | kChassisSlots = 8 |
Protected Member Functions inherited from PWM | |
virtual void | SetPosition (float pos) |
virtual float | GetPosition () |
virtual float | GetSpeed () |
void | ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew) |
void | UpdateTable () |
void | StartLiveWindowMode () |
void | StopLiveWindowMode () |
std::string | GetSmartDashboardType () |
void | InitTable (ITable *subTable) |
ITable * | GetTable () |
Protected Member Functions inherited from SensorBase | |
void | AddToSingletonList () |
Protected Member Functions inherited from ErrorBase | |
ErrorBase () | |
Initialize the instance status to 0 for now. | |
Protected Attributes inherited from PWM | |
bool | m_eliminateDeadband |
int32_t | m_maxPwm |
int32_t | m_deadbandMaxPwm |
int32_t | m_centerPwm |
int32_t | m_deadbandMinPwm |
int32_t | m_minPwm |
ITable * | m_table |
Protected Attributes inherited from ErrorBase | |
Error | m_error |
Static Protected Attributes inherited from PWM | |
static constexpr float | kDefaultPwmPeriod = 5.05 |
static constexpr float | kDefaultPwmCenter = 1.5 |
static const int32_t | kDefaultPwmStepsDown = 128 |
static const int32_t | kPwmDisabled = 0 |
Static Protected Attributes inherited from ErrorBase | |
static SEM_ID | _globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE) |
static Error | _globalError |
IFI Victor Speed Controller
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explicit |
Constructor that assumes the default digital module.
Definition at line 43 of file Victor.cpp.
Victor::Victor | ( | uint8_t | moduleNumber, |
uint32_t | channel | ||
) |
Constructor that specifies the digital module.
moduleNumber | The digital module (1 or 2). |
channel | The PWM channel on the digital module that the Victor is attached to (1..10). |
Definition at line 54 of file Victor.cpp.
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virtual |
Common interface for disabling a motor.
Implements SpeedController.
Definition at line 90 of file Victor.cpp.
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virtual |
Get the recently set value of the PWM.
Implements SpeedController.
Definition at line 82 of file Victor.cpp.
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virtual |
Write out the PID value as seen in the PIDOutput base object.
output | Write out the PWM value as was found in the PIDController |
Implements PIDOutput.
Definition at line 100 of file Victor.cpp.
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virtual |
Set the PWM value.
The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.
speed | The speed value between -1.0 and 1.0 to set. |
syncGroup | Unused interface. |
Implements SpeedController.
Definition at line 72 of file Victor.cpp.