#include <motor.hpp>

Inheritance diagram for sylib::Motor:

Public Member Functions
	Motor (const uint8_t smart_port, const double gearing=200, const bool reverse=false, const SpeedControllerInfo speedController=SpeedControllerInfo())
	Creates a smart motor object. More...

void	update () override
	Motor update loop. More...

void	set_position_target_absolute (double new_position, std::int32_t velocity_cap=200)
	Sets the absolute motor position target. More...

void	set_position_target_relative (double new_position, std::int32_t velocity_cap=200)
	Sets a motor position target relative to its current position. More...

void	set_velocity_custom_controller (std::int16_t new_velocity_target)
	Sets the motor velocity target and changes control modes. More...

void	stop ()
	Stops the motor. More...

void	set_voltage (std::int16_t new_voltage_target)
	Sets the voltage sent to the motor directly. More...

void	set_braking_mode (V5MotorBrakeMode mode)
	Sets the motor braking mode. More...

void	set_amps_limit (std::int32_t limit)
	Sets the motor amperage limit. More...

void	set_is_reversed (bool reverse)
	Sets the motor reversed flag. More...

void	set_volts_limit (std::int32_t limit)
	Sets the motor voltage limit. More...

void	tare_encoder ()
	Tares the motor encoder. More...

void	set_velocity (std::int32_t new_velocity_target)
	Sets the motor velocity target. More...

void	updateSpeedController (sylib::SpeedControllerInfo controller)
	Sets the custom speed controller used by set_velocity_custom_controller. More...

double	get_velocity_error () const
	Gets the current error between the motor's actual velocity and the velocity target. More...

std::int32_t	get_p_voltage () const
	Gets the current output of the user-provided P controller. More...

std::int32_t	get_i_voltage () const
	Gets the current output of the user-provided I controller. More...

std::int32_t	get_d_voltage () const
	Gets the current output of the user-provided D controller. More...

std::int32_t	get_estimator_voltage () const
	Gets the current output of the user-provided feedforward controller. More...

std::int32_t	get_tbh_voltage () const
	Gets the current output of the user-provided TBH controller. More...

double	get_position () const
	Gets the current raw motor position. More...

double	get_position_target () const
	Gets the current target motor position. More...

double	get_velocity () const
	Gets the current motor velocity. More...

double	get_velocity_target () const
	Gets the current motor velocity target. More...

double	get_velocity_motor_reported () const
	Gets the current motor velocity as reported by the motor itself. More...

double	get_velocity_raw () const
	Gets the unfiltered motor velocity. More...

double	get_velocity_sma_filter_only () const
	Gets the partially-filtered motor velocity. More...

double	get_acceleration () const
	Gets the motor acceleration. More...

double	get_temperature () const
	Gets the motor temperature. More...

double	get_torque () const
	Gets the motor torque. More...

double	get_watts () const
	Gets the motor power consumption. More...

std::int32_t	get_amps () const
	Gets the motor current draw. More...

std::int32_t	get_amps_limit () const
	Gets the user-provided motor current limit. More...

std::int32_t	get_applied_voltage () const
	Gets the voltage most recently sent to the motor, when using a sylib control mode. More...

std::int32_t	get_volts_limit () const
	Gets the user-provided motor voltage limit. More...

std::int32_t	get_efficiency () const
	Gets the motor-reported efficiency value in percent. More...

std::int32_t	get_faults () const
	Gets the motor-reported faults. More...

std::int32_t	get_flags () const
	Gets the motor-reported flags. More...

std::uint32_t	get_device_timestamp () const
	Gets the most recent time at which the motor has updated its tick count. More...

std::int32_t	get_position_and_timestamp (std::uint32_t *timestamp)
	Gets the current motor tick count and timestamp value. More...

std::int32_t	get_braking_mode () const
	Gets the current motor brake mode. More...

std::int32_t	get_gearing () const
	Gets the user-set motor gearing. More...

std::int32_t	get_smart_port () const
	Gets 1-indexed smart port used by the motor. More...

bool	is_stopped () const
	Gets if the motor is stopped. More...

bool	is_over_current () const
	Gets if the motor is over current, as reported by the motor. More...

bool	is_over_temp () const
	Gets if the motor is over temperature, as reported by the motor. More...

bool	is_reversed () const
	Gets if the motor reversed flag is set. More...

Detailed Description

V5 Smart Motor.

Constructor & Destructor Documentation

◆ Motor()

sylib::Motor::Motor	(	const uint8_t	smart_port,
		const double	gearing = `200`,
		const bool	reverse = `false`,
		const SpeedControllerInfo	speedController = `SpeedControllerInfo()`
	)

Creates a smart motor object.

Parameters

smart_port	The 1-indexed smart port the motor uses
gearing	The output speed of the motor, in RPM, if the motor internally is spinning at 3600 RPM. 200 is default for a green motor cartridge
reverse	Optional motor reversed flag
speedController	Optional velocity controller used by set_velocity_custom_controller

Member Function Documentation

◆ get_acceleration()

double sylib::Motor::get_acceleration ( ) const

Gets the motor acceleration.

Uses the sylib velocity estimator

Returns: RPM per millisecond

◆ get_amps()

std::int32_t sylib::Motor::get_amps ( ) const

Gets the motor current draw.

Returns: Amps

◆ get_amps_limit()

std::int32_t sylib::Motor::get_amps_limit ( ) const

Gets the user-provided motor current limit.

Returns: Amps

◆ get_applied_voltage()

std::int32_t sylib::Motor::get_applied_voltage ( ) const

Gets the voltage most recently sent to the motor, when using a sylib control mode.

Returns: Millivolts

◆ get_braking_mode()

std::int32_t sylib::Motor::get_braking_mode ( ) const

Gets the current motor brake mode.

Returns: V5MotorBrakeMode

◆ get_d_voltage()

std::int32_t sylib::Motor::get_d_voltage ( ) const

Gets the current output of the user-provided D controller.

Returns: Millivolts

◆ get_device_timestamp()

std::uint32_t sylib::Motor::get_device_timestamp ( ) const

Gets the most recent time at which the motor has updated its tick count.

This value is based on the motor's internal clock, and drifts from the brain's system timer by approximately 1 part in 95.

Returns: Milliseconds

◆ get_efficiency()

std::int32_t sylib::Motor::get_efficiency ( ) const

Gets the motor-reported efficiency value in percent.

100% efficiency means the motor is moving while drawing no power, and 0% efficiency means the motor is drawing power while not moving.

Returns: Millivolts

◆ get_estimator_voltage()

std::int32_t sylib::Motor::get_estimator_voltage ( ) const

Gets the current output of the user-provided feedforward controller.

Returns: Millivolts

◆ get_faults()

std::int32_t sylib::Motor::get_faults ( ) const

Gets the motor-reported faults.

Returns: Who knows ¯\_(ツ)_/¯

◆ get_flags()

std::int32_t sylib::Motor::get_flags ( ) const

Gets the motor-reported flags.

Returns: Who knows ¯\_(ツ)_/¯

◆ get_gearing()

std::int32_t sylib::Motor::get_gearing ( ) const

Gets the user-set motor gearing.

Returns: RPM

◆ get_i_voltage()

std::int32_t sylib::Motor::get_i_voltage ( ) const

Gets the current output of the user-provided I controller.

Returns: Millivolts

◆ get_p_voltage()

std::int32_t sylib::Motor::get_p_voltage ( ) const

Gets the current output of the user-provided P controller.

Returns: Millivolts

◆ get_position()

double sylib::Motor::get_position ( ) const

Gets the current raw motor position.

Returns: Ticks

◆ get_position_and_timestamp()

std::int32_t sylib::Motor::get_position_and_timestamp ( std::uint32_t * timestamp )

Gets the current motor tick count and timestamp value.

Sets the value at the pointer provided to the motor timestamp in milliseconds

Returns: Ticks

◆ get_position_target()

double sylib::Motor::get_position_target ( ) const

Gets the current target motor position.

Returns: Ticks

◆ get_smart_port()

std::int32_t sylib::Motor::get_smart_port ( ) const

Gets 1-indexed smart port used by the motor.

Returns: Smart Port Number

◆ get_tbh_voltage()

std::int32_t sylib::Motor::get_tbh_voltage ( ) const

Gets the current output of the user-provided TBH controller.

Returns: Millivolts

◆ get_temperature()

double sylib::Motor::get_temperature ( ) const

Gets the motor temperature.

Returns: Degrees Celsius, rounded to the nearest 5

◆ get_torque()

double sylib::Motor::get_torque ( ) const

Gets the motor torque.

Returns: Newton-Metres

◆ get_velocity()

double sylib::Motor::get_velocity ( ) const

Gets the current motor velocity.

Uses the sylib velocity estimator

Returns: RPM

◆ get_velocity_error()

double sylib::Motor::get_velocity_error ( ) const

Gets the current error between the motor's actual velocity and the velocity target.

Uses the sylib velocity estimator

Returns: RPM

◆ get_velocity_motor_reported()

double sylib::Motor::get_velocity_motor_reported ( ) const

Gets the current motor velocity as reported by the motor itself.

This number is complete garbage and should not be used for anything.

Returns: RPM

◆ get_velocity_raw()

double sylib::Motor::get_velocity_raw ( ) const

Gets the unfiltered motor velocity.

Uses the sylib velocity estimator

Returns: RPM

◆ get_velocity_sma_filter_only()

double sylib::Motor::get_velocity_sma_filter_only ( ) const

Gets the partially-filtered motor velocity.

Uses the sylib velocity estimator

Returns: RPM

◆ get_velocity_target()

double sylib::Motor::get_velocity_target ( ) const

Gets the current motor velocity target.

Returns: RPM

◆ get_volts_limit()

std::int32_t sylib::Motor::get_volts_limit ( ) const

Gets the user-provided motor voltage limit.

Returns: Millivolts

◆ get_watts()

double sylib::Motor::get_watts ( ) const

Gets the motor power consumption.

Returns: Watts

◆ is_over_current()

bool sylib::Motor::is_over_current ( ) const

Gets if the motor is over current, as reported by the motor.

Returns: True or False

◆ is_over_temp()

bool sylib::Motor::is_over_temp ( ) const

Gets if the motor is over temperature, as reported by the motor.

Returns: True or False

◆ is_reversed()

bool sylib::Motor::is_reversed ( ) const

Gets if the motor reversed flag is set.

Returns: True or False

◆ is_stopped()

bool sylib::Motor::is_stopped ( ) const

Gets if the motor is stopped.

Returns: True if the most recent raw velocity measurement is 0, otherwise False

◆ set_amps_limit()

void sylib::Motor::set_amps_limit ( std::int32_t limit )

Sets the motor amperage limit.

Parameters

limit Limit in milliamps

◆ set_braking_mode()

void sylib::Motor::set_braking_mode ( V5MotorBrakeMode mode )

Sets the motor braking mode.

Parameters

mode	Brake mode to use

◆ set_is_reversed()

void sylib::Motor::set_is_reversed ( bool reverse )

Sets the motor reversed flag.

Parameters

reverse Reverse flag

◆ set_position_target_absolute()

void sylib::Motor::set_position_target_absolute	(	double	new_position,
		std::int32_t	velocity_cap = `200`
	)

Sets the absolute motor position target.

This uses the smart motor's own built-in controller

Parameters

new_position	Absolute position to move to
velocity_cap	Target speed to perform the movement at

◆ set_position_target_relative()

void sylib::Motor::set_position_target_relative	(	double	new_position,
		std::int32_t	velocity_cap = `200`
	)

Sets a motor position target relative to its current position.

This uses the smart motor's own built-in controller

Parameters

new_position	Position to move to
velocity_cap	Target speed to perform the movement at

◆ set_velocity()

void sylib::Motor::set_velocity ( std::int32_t new_velocity_target )

Sets the motor velocity target.

This uses the smart motor's own built-in controller

Parameters

new_velocity_target Motor velocity target

◆ set_velocity_custom_controller()

void sylib::Motor::set_velocity_custom_controller ( std::int16_t new_velocity_target )

Sets the motor velocity target and changes control modes.

This uses a controller provided by the user

Parameters

new_velocity_target Motor velocity target

◆ set_voltage()

void sylib::Motor::set_voltage ( std::int16_t new_voltage_target )

Sets the voltage sent to the motor directly.

Parameters

new_voltage_target Voltage in millivolts

◆ set_volts_limit()

void sylib::Motor::set_volts_limit ( std::int32_t limit )

Sets the motor voltage limit.

Parameters

limit Limit in millivolts

◆ stop()

void sylib::Motor::stop ( )

Stops the motor.

◆ tare_encoder()

void sylib::Motor::tare_encoder ( )

Tares the motor encoder.

◆ update()

void sylib::Motor::update ( )

overridevirtual

Motor update loop.

Updates the motor to the most recently set values

Users do not need to call this function, it is handled by the sylib daemon. Don't use this. It won't help.

Implements sylib::Device.

◆ updateSpeedController()

void sylib::Motor::updateSpeedController ( sylib::SpeedControllerInfo controller )

Sets the custom speed controller used by set_velocity_custom_controller.

Parameters

controller Velocity controller

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Motor()

Member Function Documentation

◆ get_acceleration()

◆ get_amps()

◆ get_amps_limit()

◆ get_applied_voltage()

◆ get_braking_mode()

◆ get_d_voltage()

◆ get_device_timestamp()

◆ get_efficiency()

◆ get_estimator_voltage()

◆ get_faults()

◆ get_flags()

◆ get_gearing()

◆ get_i_voltage()

◆ get_p_voltage()

◆ get_position()

◆ get_position_and_timestamp()

◆ get_position_target()

◆ get_smart_port()

◆ get_tbh_voltage()

◆ get_temperature()

◆ get_torque()

◆ get_velocity()

◆ get_velocity_error()

◆ get_velocity_motor_reported()

◆ get_velocity_raw()

◆ get_velocity_sma_filter_only()

◆ get_velocity_target()

◆ get_volts_limit()

◆ get_watts()

◆ is_over_current()

◆ is_over_temp()

◆ is_reversed()

◆ is_stopped()

◆ set_amps_limit()

◆ set_braking_mode()

◆ set_is_reversed()

◆ set_position_target_absolute()

◆ set_position_target_relative()

◆ set_velocity()

◆ set_velocity_custom_controller()

◆ set_voltage()

◆ set_volts_limit()

◆ stop()

◆ tare_encoder()

◆ update()

◆ updateSpeedController()