tap::control::turret::TurretSubsystemInterface Class Reference

#include <turret_subsystem_interface.hpp>

Inheritance diagram for tap::control::turret::TurretSubsystemInterface:

Collaboration diagram for tap::control::turret::TurretSubsystemInterface:

Public Member Functions
	TurretSubsystemInterface (Drivers *drivers)
virtual float	getYawSetpoint () const =0
virtual float	getPitchSetpoint () const =0
virtual void	setYawSetpoint (float newAngle)=0
virtual void	setPitchSetpoint (float newAngle)=0
virtual const tap::algorithms::WrappedFloat &	getCurrentYawValue () const =0
virtual const tap::algorithms::WrappedFloat &	getCurrentPitchValue () const =0
virtual bool	isOnline () const =0
virtual float	getYawVelocity () const =0
virtual float	getPitchVelocity () const =0
virtual float	getYawAngleFromCenter () const =0
virtual float	getPitchAngleFromCenter () const =0
virtual void	setYawMotorOutput (float out)=0
virtual void	setPitchMotorOutput (float out)=0
virtual bool	yawLimited () const =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

Interface for a generic turret motor with a pitch and yaw motor.

Constructor & Destructor Documentation

TurretSubsystemInterface()

tap::control::turret::TurretSubsystemInterface::TurretSubsystemInterface ( Drivers *  drivers )

inlineexplicit

Member Function Documentation

getCurrentPitchValue()

virtual const tap::algorithms::WrappedFloat & tap::control::turret::TurretSubsystemInterface::getCurrentPitchValue ( ) const

pure virtual

Returns

The current physical pitch of the turret.

getCurrentYawValue()

virtual const tap::algorithms::WrappedFloat & tap::control::turret::TurretSubsystemInterface::getCurrentYawValue ( ) const

pure virtual

Returns

The current value of the turret's physical yaw.

getPitchAngleFromCenter()

virtual float tap::control::turret::TurretSubsystemInterface::getPitchAngleFromCenter ( ) const

pure virtual

Returns

An angle between [-180, 180] that is the angle difference of the pitch's current value and the center value as defined by a subclass.

getPitchSetpoint()

virtual float tap::control::turret::TurretSubsystemInterface::getPitchSetpoint ( ) const

inlinepure virtual

See also

getYawSetpoint

getPitchVelocity()

virtual float tap::control::turret::TurretSubsystemInterface::getPitchVelocity ( ) const

inlinepure virtual

See also

getYawVelocity

getYawAngleFromCenter()

virtual float tap::control::turret::TurretSubsystemInterface::getYawAngleFromCenter ( ) const

pure virtual

See also

getPitchAngleFromCenter

getYawSetpoint()

virtual float tap::control::turret::TurretSubsystemInterface::getYawSetpoint ( ) const

inlinepure virtual

Returns

the desired yaw value value of whatever is being controlled.

getYawVelocity()

virtual float tap::control::turret::TurretSubsystemInterface::getYawVelocity ( ) const

inlinepure virtual

Returns

the velocity of the turret's physical yaw motor(s)

isOnline()

virtual bool tap::control::turret::TurretSubsystemInterface::isOnline ( ) const

inlinepure virtual

Returns

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

setPitchMotorOutput()

virtual void tap::control::turret::TurretSubsystemInterface::setPitchMotorOutput ( float  out )

pure virtual

See also

setYawMotorOutput

setPitchSetpoint()

virtual void tap::control::turret::TurretSubsystemInterface::setPitchSetpoint ( float  newAngle )

pure virtual

See also

setPitchSetpoint

setYawMotorOutput()

virtual void tap::control::turret::TurretSubsystemInterface::setYawMotorOutput ( float  out )

pure virtual

Sets yaw motor output. Limits the output based on the mechanical constraints of the turret.

setYawSetpoint()

virtual void tap::control::turret::TurretSubsystemInterface::setYawSetpoint ( float  newAngle )

pure virtual

Sets the desired yaw position of the turret.

Parameters

[in]

newValue

the new desired value the turret will try and reach

yawLimited()

virtual bool tap::control::turret::TurretSubsystemInterface::yawLimited ( ) const

pure virtual

If false, the turret may spin 360 degrees freely, otherwise true.

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

• fang-mcb-project/taproot/src/tap/control/turret_subsystem_interface.hpp