Wrapper for PWM Jaguars.
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#include <LRTJaguar.h>
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virtual void | SetDutyCycle (float value) |
| Sets the duty cycle of this speed controller.
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virtual float | GetDutyCycle () |
| Returns the last set duty cycle of this speed controller.
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virtual float | GetHardwareValue () |
| Returns the last duty cycle sent to the speed controller.
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virtual void | ConfigNeutralMode (LRTSpeedController::NeutralMode mode) |
| Sets the neutral mode (brake or coast).
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virtual NeutralMode | GetNeutralMode () |
| Gets the neutral mode (brake or coast).
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void | Update () |
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void | Output () |
| Checks safety and sends the saved values to the speed controllers.
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void | RegisterSafety (CounterBase *encoder, double timeoutSeconds, float threshold=0.01) |
| Registers an encoder with this speed controller for stall safety.
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virtual void | SafetyCallback () |
| Called when safety fails on this speed controller.
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virtual void | Log () |
| Logs data to the Logger.
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virtual void | Send () |
| Sends data to the LiveNetworkSender.
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static float | CurrentLimit (float dutyCycle, float speed, float forwardLimit, float reverseLimit) |
| Calculates a duty cycle with current limiting applied.
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template<typename T > |
void | SendToNetwork (T value, std::string key, std::string table) |
| Sends a value to the network through LiveNetworkSender.
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template<typename T > |
void | LogToFile (T *field, std::string name) |
| Saves a variable to the Logger for logging.
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template<typename T > |
void | LogToFile (T *field, int count, std::string name) |
| Saves a dynamically allocated array to the Logger for logging.
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template<typename T > |
void | LogToFile (T value, std::string name) |
| Saves a value to the Logger for logging.
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void LRTJaguar::ConfigNeutralMode |
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LRTSpeedController::NeutralMode |
mode | ) |
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virtual |
Sets the neutral mode (brake or coast).
- Parameters
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mode | the neutral mode (brake or coast) |
Implements LRTSpeedController.
float LRTJaguar::GetDutyCycle |
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virtual |
Returns the last set duty cycle of this speed controller.
- Returns
- the last set duty cycle
Implements LRTSpeedController.
float LRTJaguar::GetHardwareValue |
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virtual |
Returns the last duty cycle sent to the speed controller.
- Returns
- the last duty cycle sent
Implements LRTSpeedController.
LRTJaguar::NeutralMode LRTJaguar::GetNeutralMode |
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virtual |
Gets the neutral mode (brake or coast).
- Returns
- the neutral mode (brake or coast)
Implements LRTSpeedController.
void LRTJaguar::SetDutyCycle |
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float |
pwm | ) |
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virtual |
void LRTJaguar::Update |
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virtual |
The documentation for this class was generated from the following files: