tap::control::setpoint::SetpointSubsystem Class Reference

#include <setpoint_subsystem.hpp>

Inheritance diagram for tap::control::setpoint::SetpointSubsystem:

Collaboration diagram for tap::control::setpoint::SetpointSubsystem:

Public Member Functions
virtual float	getSetpoint () const =0
virtual void	setSetpoint (float newAngle)=0
virtual float	getCurrentValue () const =0
virtual float	getJamSetpointTolerance () const =0
virtual bool	calibrateHere ()=0
virtual bool	isJammed ()=0
virtual void	clearJam ()=0
virtual bool	isCalibrated ()=0
virtual bool	isOnline ()=0
virtual float	getVelocity ()=0
Public Member Functions inherited from tap::control::Subsystem
	Subsystem (Drivers *drivers)
virtual	~Subsystem ()
virtual void	initialize ()
void	registerAndInitialize ()
mockable void	setDefaultCommand (Command *defaultCommand)
mockable Command *	getDefaultCommand () const
virtual void	refresh ()
virtual void	refreshSafeDisconnect ()
mockable void	setTestCommand (Command *testCommand)
mockable Command *	getTestCommand () const
virtual const char *	getName () const
mockable int	getGlobalIdentifier () const

Additional Inherited Members
Protected Attributes inherited from tap::control::Subsystem
Drivers *	drivers

Detailed Description

An abstract class (usable as an interface) describing the functionalities of a subsystem which uses a positional controller to rotate something.

Any mention of position in the documentation for this class does not necessarily refer to a physical location in space, rather it refers to a quantity describing whatever is being positionally controlled by the subsystem.

Member Function Documentation

calibrateHere()

virtual bool tap::control::setpoint::SetpointSubsystem::calibrateHere ( )

pure virtual

Attempts to calibrate the subsystem at the current position, such that getCurrentValue will return 0 units at this position.

Returns

true if the subsystem has been successfully calibrated, false otherwise.

clearJam()

virtual void tap::control::setpoint::SetpointSubsystem::clearJam ( )

pure virtual

Call to clear the jam flag of the subsystem, indicating that the jam has been solved.

Todo:

At some point we should move the unjam command logic into the subsystems

getCurrentValue()

virtual float tap::control::setpoint::SetpointSubsystem::getCurrentValue ( ) const

pure virtual

Returns

The current value of the controlled variable.

getJamSetpointTolerance()

virtual float tap::control::setpoint::SetpointSubsystem::getJamSetpointTolerance ( ) const

pure virtual

Returns

the jamming tolerance. This is the maximum distance between the ideal setpoint and current value of the controlled variable at which the subsystem will never consider itself jammed.

getSetpoint()

virtual float tap::control::setpoint::SetpointSubsystem::getSetpoint ( ) const

inlinepure virtual

Returns

the subsystem's setpoint: the desired value of whatever is being controlled.

getVelocity()

virtual float tap::control::setpoint::SetpointSubsystem::getVelocity ( )

inlinepure virtual

Returns

the velocity of the subsystem (i.e.: the rate of change of the controlled variable's value).

isCalibrated()

virtual bool tap::control::setpoint::SetpointSubsystem::isCalibrated ( )

inlinepure virtual

Returns

true if the subsystem has been calibrated

isJammed()

virtual bool tap::control::setpoint::SetpointSubsystem::isJammed ( )

pure virtual

Returns

true if the subsystem unjam timer has expired, signaling that the subsystem has jammed, false otherwise.

isOnline()

virtual bool tap::control::setpoint::SetpointSubsystem::isOnline ( )

inlinepure virtual

Returns

true if the subsystem is online (i.e.: is connected)

setSetpoint()

virtual void tap::control::setpoint::SetpointSubsystem::setSetpoint ( float  newAngle )

inlinepure virtual

Sets the desired position of the subsystem, relative to where it was calibrated.

Parameters

[in]

newValue

the new desired value the subsystem will try to reach.

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

• fang-mcb-project/taproot/src/tap/control/setpoint/interfaces/setpoint_subsystem.hpp