fang::chassis::PowerQuadDrive Class Reference

#include <power_quad_drive.hpp>

Inheritance diagram for fang::chassis::PowerQuadDrive:

Collaboration diagram for fang::chassis::PowerQuadDrive:

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()

virtual fang::chassis::PowerQuadDrive::~PowerQuadDrive ( )

inlinevirtual

Member Function Documentation

initialize()

void fang::chassis::PowerQuadDrive::initialize ( )

overridevirtual

Called once when you add the Subsystem to the commandScheduler stored in the Drivers class.

Reimplemented from fang::chassis::BaseQuadDrive.

refresh()

void fang::chassis::PowerQuadDrive::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()

void fang::chassis::PowerQuadDrive::setTargetWheelSpeeds ( const QuadRPM &  wheelSpeeds )

overridevirtual

Reimplemented from fang::chassis::BaseQuadDrive.

update()

void fang::chassis::PowerQuadDrive::update ( )

overridevirtual

Reimplemented from fang::chassis::BaseQuadDrive.

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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