#include <power_quad_drive.hpp>
Public Member Functions | |
| PowerQuadDrive (Drivers &drivers, Motors &&motors, std::unique_ptr< IPowerLimiterSystem > powerLimiter) | |
| virtual void | setTargetWheelSpeeds (const QuadRPM &wheelSpeeds) override |
| virtual void | initialize () override |
| virtual void | update () override |
| virtual void | refresh () override |
| virtual | ~PowerQuadDrive () |
 Public Member Functions inherited from fang::chassis::BaseQuadDrive | |
| BaseQuadDrive (Drivers &drivers, std::unique_ptr< Motor > frontLeftMotor, std::unique_ptr< Motor > frontRightMotor, std::unique_ptr< Motor > rearLeftMotor, std::unique_ptr< Motor > rearRightMotor) | |
| BaseQuadDrive (Drivers &drivers, Motors &&motors) | |
| virtual | ~BaseQuadDrive () |
| Public Member Functions inherited from fang::chassis::QuadDriveSubsystem | |
| QuadDriveSubsystem (tap::Drivers &drivers) | |
| virtual | ~QuadDriveSubsystem ()=default |
| Public Member Functions inherited from tap::control::Subsystem | |
| Subsystem (Drivers *drivers) | |
| virtual | ~Subsystem () |
| void | registerAndInitialize () |
| mockable void | setDefaultCommand (Command *defaultCommand) |
| mockable Command * | getDefaultCommand () const |
| virtual void | refreshSafeDisconnect () |
| mockable void | setTestCommand (Command *testCommand) |
| mockable Command * | getTestCommand () const |
| virtual const char * | getName () const |
| mockable int | getGlobalIdentifier () const |
Additional Inherited Members | |
| Public Types inherited from fang::chassis::BaseQuadDrive | |
| using | Motor = motor::ISpeedMotor |
| using | Motors = QuadCollection< std::unique_ptr< Motor > > |
| Protected Attributes inherited from tap::control::Subsystem | |
| Drivers * | drivers |
Detailed Description
This checks the power useage and appropriately downscales it
Constructor & Destructor Documentation
◆ PowerQuadDrive()
| fang::chassis::PowerQuadDrive::PowerQuadDrive | ( | Drivers & | drivers, |
| Motors && | motors, | ||
| std::unique_ptr< IPowerLimiterSystem > | powerLimiter | ||
| ) |
◆ ~PowerQuadDrive()
|
inlinevirtual |
Member Function Documentation
◆ initialize()
|
overridevirtual |
Called once when you add the Subsystem to the commandScheduler stored in the Drivers class.
Reimplemented from fang::chassis::BaseQuadDrive.
◆ refresh()
|
overridevirtual |
Called in the scheduler's run function assuming this command has been registered with the scheduler. This function should contain code that must be periodically updated and is generic to the subsystem (i.e. updating a control loop generic to this subsystem). This function should not contain command specific control code. When you create a subclass of Subsystem, you should overwrite this virtual function.
Must be virtual otherwise scheduler will refer to this function rather than looking in child for this function.
Reimplemented from fang::chassis::BaseQuadDrive.
◆ setTargetWheelSpeeds()
|
overridevirtual |
Reimplemented from fang::chassis::BaseQuadDrive.
◆ update()
|
overridevirtual |
Reimplemented from fang::chassis::BaseQuadDrive.
The documentation for this class was generated from the following files:
- fang-mcb-project/src/control/chassis/drive/quad_drive/power_quad_drive/power_quad_drive.hpp
- fang-mcb-project/src/control/chassis/drive/quad_drive/power_quad_drive/power_quad_drive.cpp
