fang::motor::ModdedCascadePosition< Output, Intermediate > Class Template Reference

#include <modded_cascade_position.hpp>

Inheritance diagram for fang::motor::ModdedCascadePosition< Output, Intermediate >:

Collaboration diagram for fang::motor::ModdedCascadePosition< Output, Intermediate >:

Public Types
using	CascadeMotor = ModdedCascadeMotor< Output, Radians, Intermediate, Seconds, trap::algorithms::RingRadians >
using	Config = CascadeMotor::Config
Public Types inherited from fang::motor::ModdedCascadeMotor< Output, Radians, Intermediate, Seconds, trap::algorithms::RingRadians >
using	ControlledMotor = IOutputMotor< Output >
using	ControlTelemetry = telemetry::ITelemetry< Radians >
using	IntermediateTelemetry = telemetry::ITelemetry< Intermediate >
using	Pid = trap::algorithms::DualModdedPid< Radians, Intermediate, Output, Seconds, trap::algorithms::RingRadians, Intermediate >
using	Config = Pid::Config
using	MainModder = Pid::MainModder
using	IntermediateModder = Pid::IntermediateModder

Public Member Functions
void	setTargetPosition (const Radians &position) override
Public Member Functions inherited from fang::motor::ModdedCascadeMotor< Output, Radians, Intermediate, Seconds, trap::algorithms::RingRadians >
	ModdedCascadeMotor (const Config &config, std::unique_ptr< ControlledMotor > motor, std::unique_ptr< ControlTelemetry > controlTelemetry, std::unique_ptr< IntermediateTelemetry > intermediateTelemetry, std::unique_ptr< MainModder > mainModder=std::make_unique< trap::algorithms::NullPidModder< Intermediate > >(), std::unique_ptr< IntermediateModder > intermediateModder=std::make_unique< trap::algorithms::NullPidModder< Output > >())
void	initialize () override
void	update () override
void	update (const Seconds &delta)
void	setTarget (const Radians &control)

Detailed Description

template<typename Output, typename Intermediate>
class fang::motor::ModdedCascadePosition< Output, Intermediate >

This provides access for Position Motors

Purpose to change: Interfacing generic dual cascade with IPositionMotor

Member Typedef Documentation

CascadeMotor

template<typename Output , typename Intermediate >

using fang::motor::ModdedCascadePosition< Output, Intermediate >::CascadeMotor = ModdedCascadeMotor< Output, Radians, Intermediate, Seconds, trap::algorithms::RingRadians >

Config

template<typename Output , typename Intermediate >

using fang::motor::ModdedCascadePosition< Output, Intermediate >::Config = CascadeMotor::Config

Member Function Documentation

setTargetPosition()

template<typename Output , typename Intermediate >

void fang::motor::ModdedCascadePosition< Output, Intermediate >::setTargetPosition ( const Radians &  position )

inlineoverride

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The documentation for this class was generated from the following file:

• fang-mcb-project/src/driver/motor/pid/modded_cascade_position/modded_cascade_position.hpp