#include <SmartMotorController.hpp>

Inheritance diagram for yams::motorcontrollers::SmartMotorController:

[legend]

Collaboration diagram for yams::motorcontrollers::SmartMotorController:

[legend]

Public Types
using	ClosedLoopControllerSlot = SmartMotorControllerConfig::ClosedLoopControllerSlot

using	MotorMode = SmartMotorControllerConfig::MotorMode

using	ControlMode = SmartMotorControllerConfig::ControlMode

Public Member Functions
virtual	~SmartMotorController ()

virtual bool	ApplyConfig (const SmartMotorControllerConfig &config)=0

virtual void	SetupSimulation ()=0

virtual void	SimIterate ()=0

void	SetSimSupplier (std::shared_ptr< SimSupplier > supplier)

SimSupplier *	GetSimSupplier () const

virtual void	SeedRelativeEncoder ()=0

virtual void	SynchronizeRelativeEncoder ()=0

virtual void	SetDutyCycle (double dutyCycle)=0

virtual double	GetDutyCycle ()=0

virtual void	SetVoltage (wpi::units::volt_t voltage)=0

virtual wpi::units::volt_t	GetVoltage ()=0

virtual void	SetPosition (wpi::units::turn_t angle)=0

virtual void	SetPosition (wpi::units::meter_t distance)=0

virtual void	SetVelocity (wpi::units::turns_per_second_t velocity)=0

virtual void	SetVelocity (wpi::units::meters_per_second_t velocity)=0

virtual void	SetVelocity (wpi::units::turns_per_second_t velocity, wpi::units::newton_t feedforwardForce)

void	SetVelocity (wpi::units::meters_per_second_t velocity, wpi::units::newton_t feedforwardForce)

virtual void	SetEncoderPosition (wpi::units::turn_t angle)=0

virtual void	SetEncoderPosition (wpi::units::meter_t distance)=0

virtual void	SetEncoderVelocity (wpi::units::turns_per_second_t velocity)=0

virtual void	SetEncoderVelocity (wpi::units::meters_per_second_t velocity)=0

virtual wpi::units::turn_t	GetMechanismPosition ()=0

virtual wpi::units::turns_per_second_t	GetMechanismVelocity ()=0

virtual wpi::units::turn_t	GetRelativeMechanismPosition ()=0

virtual wpi::units::turns_per_second_t	GetRelativeMechanismVelocity ()=0

virtual wpi::units::turns_per_second_squared_t	GetMechanismAcceleration ()=0

virtual wpi::units::turn_t	GetRotorPosition ()=0

virtual wpi::units::turns_per_second_t	GetRotorVelocity ()=0

virtual wpi::units::meter_t	GetMeasurementPosition ()=0

virtual wpi::units::meters_per_second_t	GetMeasurementVelocity ()=0

virtual wpi::units::meters_per_second_squared_t	GetMeasurementAcceleration ()=0

virtual std::optional< wpi::units::turn_t >	GetExternalEncoderMechanismPosition ()=0

virtual std::optional< wpi::units::turns_per_second_t >	GetExternalEncoderMechanismVelocity ()=0

virtual std::optional< wpi::units::ampere_t >	GetSupplyCurrent ()=0

virtual wpi::units::ampere_t	GetStatorCurrent ()=0

virtual wpi::units::celsius_t	GetTemperature ()=0

virtual wpi::math::DCMotor	GetDCMotor ()=0

virtual void	SetZeroPower (MotorMode mode)=0

virtual void	SetMotorInverted (bool inverted)=0

virtual void	SetEncoderInverted (bool inverted)=0

virtual void	SetKp (double kP)=0

virtual void	SetKi (double kI)=0

virtual void	SetKd (double kD)=0

virtual void	SetFeedback (double kP, double kI, double kD)=0

virtual void	SetKs (double kS)=0

virtual void	SetKv (double kV)=0

virtual void	SetKa (double kA)=0

virtual void	SetKg (double kG)=0

virtual void	SetFeedforward (double kS, double kV, double kA, double kG)=0

virtual void	SetStatorCurrentLimit (wpi::units::ampere_t currentLimit)=0

virtual void	SetSupplyCurrentLimit (wpi::units::ampere_t currentLimit)=0

virtual void	SetClosedLoopRampRate (wpi::units::second_t rampRate)=0

virtual void	SetOpenLoopRampRate (wpi::units::second_t rampRate)=0

virtual void	SetMechanismUpperLimit (wpi::units::turn_t upperLimit)=0

virtual void	SetMechanismLowerLimit (wpi::units::turn_t lowerLimit)=0

virtual void	SetMechanismLimits (wpi::units::turn_t lower, wpi::units::turn_t upper)=0

virtual void	SetMechanismLimitsEnabled (bool enabled)=0

virtual void	SetMeasurementUpperLimit (wpi::units::meter_t upperLimit)=0

virtual void	SetMeasurementLowerLimit (wpi::units::meter_t lowerLimit)=0

virtual void	SetMotionProfileMaxVelocity (wpi::units::turns_per_second_t maxVelocity)=0

virtual void	SetMotionProfileMaxVelocity (wpi::units::meters_per_second_t maxVelocity)=0

virtual void	SetMotionProfileMaxAcceleration (wpi::units::turns_per_second_squared_t maxAcc)=0

virtual void	SetMotionProfileMaxAcceleration (wpi::units::meters_per_second_squared_t maxAcc)=0

virtual void	SetMotionProfileMaxJerk (wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk)=0

virtual void	SetExponentialProfile (std::optional< double > kV, std::optional< double > kA, std::optional< wpi::units::volt_t > maxInput)=0

virtual void	SetClosedLoopSlot (ClosedLoopControllerSlot slot)=0

virtual void	SetMechanismGearing (const gearing::MechanismGearing &gearing)

virtual void	SetMechanismCircumference (wpi::units::meter_t circumference)

wpi::units::second_t	GetClosedLoopControllerPeriod () const

virtual std::optional< wpi::units::second_t >	GetVelocityMeasurementDelay () const

void	StartClosedLoopController ()

void	StopClosedLoopController ()

void	IterateClosedLoopController ()

void	SetupTelemetry (std::shared_ptr< wpi::nt::NetworkTable > dataTable, std::shared_ptr< wpi::nt::NetworkTable > tuningTable)

void	SetupTelemetry ()

void	SetupLiveTuning ()

void	UpdateTelemetry ()

bool	TuningEnabled () const

void	ApplyTuningValues ()

void	StopLiveTuning ()

const std::vector< SmartMotorController * > &	GetLooselyCoupledFollowers () const

void	AddCloseHook (std::function< void()> hook)

SmartMotorController &	WithTelemetry (telemetry::SmartMotorControllerTelemetryConfig config)

virtual telemetry::UnsupportedTelemetryFields	GetUnsupportedTelemetryFields ()

ClosedLoopControllerSlot	GetClosedLoopControllerSlot () const

std::optional< wpi::units::turn_t >	GetMechanismPositionSetpoint () const

std::optional< wpi::units::turns_per_second_t >	GetMechanismSetpointVelocity () const

std::optional< wpi::units::meter_t >	GetMeasurementPositionSetpoint () const

std::optional< wpi::units::meters_per_second_t >	GetMeasurementSetpointVelocity () const

std::optional< wpi::units::newton_t >	GetSetpointFeedforwardForce () const

virtual SmartMotorControllerConfig &	GetConfig ()=0

virtual void *	GetMotorController ()=0

virtual void *	GetMotorControllerConfig ()=0

std::string	GetName () const

bool	IsMotor (const wpi::math::DCMotor &a, const wpi::math::DCMotor &b) const

void	CheckConfigSafety ()

void	Close ()

Protected Member Functions
void	LoadLooselyCoupledFollowers ()

void	ConfigureSoftwarePID (const SmartMotorControllerConfig &config)

void	ForwardPositionToFollowers (wpi::units::turn_t pos)

void	ForwardPositionToFollowers (wpi::units::meter_t dist)

void	ForwardVelocityToFollowers (wpi::units::turns_per_second_t vel)

void	ForwardVelocityToFollowers (wpi::units::meters_per_second_t vel)

const void *	BatterySimKey () const

Protected Attributes
SmartMotorControllerConfig *	m_config {nullptr}

ClosedLoopControllerSlot	m_slot {ClosedLoopControllerSlot::SLOT_0}

std::shared_ptr< SimSupplier >	m_simSupplier

std::vector< SmartMotorController * >	m_looseFollowers

std::optional< wpi::math::PIDController >	m_pid

std::optional< math::LQRController >	m_lqr

std::optional< wpi::math::TrapezoidProfile< wpi::units::turns >::State >	m_trapState

std::optional< wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::State >	m_expoState

std::optional< wpi::math::TrapezoidProfile< wpi::units::meters >::State >	m_linearTrapState

std::optional< wpi::math::ExponentialProfile< wpi::units::meters, wpi::units::volts >::State >	m_linearExpoState

std::optional< wpi::units::turn_t >	m_lastClosedLoopMechanismPosition

std::optional< wpi::units::turn_t >	m_setpointPosition

std::optional< wpi::units::turns_per_second_t >	m_setpointVelocity

std::optional< wpi::units::newton_t >	m_setpointFeedforwardForce

std::vector< std::function< void()> >	m_closeHooks

std::unique_ptr< wpi::Notifier >	m_closedLoopControllerThread

bool	m_closedLoopControllerRunning {false}

std::shared_ptr< wpi::nt::NetworkTable >	m_parentTable

std::shared_ptr< wpi::nt::NetworkTable >	m_telemetryTable

std::shared_ptr< wpi::nt::NetworkTable >	m_tuningTable

telemetry::SmartMotorControllerTelemetry	m_telemetry

telemetry::SmartMotorControllerTelemetryConfig	m_telemetryConfig

bool	m_telemetryConfigExplicit {false}

std::shared_ptr< telemetry::SmartMotorControllerTelemetryConfig >	m_specifiedTelemetryConfig

bool	m_liveTuningRegistered {false}

bool	m_closed {false}

Detailed Description

Abstract base class for all YAMS motor controller wrappers.

Provides a hardware-agnostic interface for open-loop control, closed-loop setpoints, encoder reads/writes, simulation, telemetry, and SysId characterization. Concrete implementations wrap CTRE TalonFX/TalonFXS and REV SPARK Max/Flex.

Member Typedef Documentation

◆ ClosedLoopControllerSlot

using yams::motorcontrollers::SmartMotorController::ClosedLoopControllerSlot = SmartMotorControllerConfig::ClosedLoopControllerSlot

◆ ControlMode

using yams::motorcontrollers::SmartMotorController::ControlMode = SmartMotorControllerConfig::ControlMode

◆ MotorMode

using yams::motorcontrollers::SmartMotorController::MotorMode = SmartMotorControllerConfig::MotorMode

Constructor & Destructor Documentation

◆ ~SmartMotorController()

virtual yams::motorcontrollers::SmartMotorController::~SmartMotorController ( )

virtual

Calls Close() so telemetry, battery-sim state and close hooks are always released.

Member Function Documentation

◆ AddCloseHook()

void yams::motorcontrollers::SmartMotorController::AddCloseHook ( std::function< void()> hook )

Register a hook to run when Close() is called, so helpers (e.g. live tuning) can clean up resources they registered elsewhere.

Parameters

hook	Callable run once on Close().

◆ ApplyConfig()

virtual bool yams::motorcontrollers::SmartMotorController::ApplyConfig ( const SmartMotorControllerConfig & config )

pure virtual

Apply a SmartMotorControllerConfig to the underlying hardware.

Parameters

config Configuration to apply.

Returns: true if the configuration was applied successfully.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ ApplyTuningValues()

void yams::motorcontrollers::SmartMotorController::ApplyTuningValues ( )

Apply the live-tuned values from the Tuning NetworkTable to this motor controller.

Throws SmartMotorControllerConfigurationException if the control mode is not CLOSED_LOOP.

◆ BatterySimKey()

const void * yams::motorcontrollers::SmartMotorController::BatterySimKey ( ) const

inlineprotected

Key this controller's current draw is tracked under in simulation::BatterySim. Sim suppliers built from this controller use the same key.

Returns: Battery simulation key.

◆ CheckConfigSafety()

void yams::motorcontrollers::SmartMotorController::CheckConfigSafety ( )

Validate the current configuration and throw if safety constraints are violated.

◆ Close()

void yams::motorcontrollers::SmartMotorController::Close ( )

Release resources held by this controller: stops the closed-loop thread, closes telemetry, removes this controller's current from BatterySim, and runs the close hooks. Safe to call more than once.

◆ ConfigureSoftwarePID()

void yams::motorcontrollers::SmartMotorController::ConfigureSoftwarePID ( const SmartMotorControllerConfig & config )

protected

Configure the software PID controller (m_pid) from config: continuous input over the continuous wrapping range and the closed-loop tolerance. Call in ApplyConfig() right after m_pid is (re)created; consumes the ClosedLoopTolerance and ContinuousWrapping options.

Parameters

config Config being applied.

◆ ForwardPositionToFollowers() [1/2]

void yams::motorcontrollers::SmartMotorController::ForwardPositionToFollowers ( wpi::units::meter_t dist )

protected

Forward a linear position setpoint to all loosely coupled followers. Call at the end of SetPosition(meter_t) in each concrete wrapper.

◆ ForwardPositionToFollowers() [2/2]

void yams::motorcontrollers::SmartMotorController::ForwardPositionToFollowers ( wpi::units::turn_t pos )

protected

Forward a position setpoint to all loosely coupled followers. Call at the end of SetPosition(turn_t) in each concrete wrapper.

◆ ForwardVelocityToFollowers() [1/2]

void yams::motorcontrollers::SmartMotorController::ForwardVelocityToFollowers ( wpi::units::meters_per_second_t vel )

protected

Forward a linear velocity setpoint to all loosely coupled followers. Call at the end of SetVelocity(meters_per_second_t) in each concrete wrapper.

◆ ForwardVelocityToFollowers() [2/2]

void yams::motorcontrollers::SmartMotorController::ForwardVelocityToFollowers ( wpi::units::turns_per_second_t vel )

protected

Forward a velocity setpoint to all loosely coupled followers. Call at the end of SetVelocity(turns_per_second_t) in each concrete wrapper.

◆ GetClosedLoopControllerPeriod()

wpi::units::second_t yams::motorcontrollers::SmartMotorController::GetClosedLoopControllerPeriod ( ) const

Get the period the closed-loop controller runs at. A closed-loop controller run on the SystemCore, such as an LQR or an exponential profile, runs at SmartMotorControllerConfig::WithClosedLoopControlPeriod(), 20 ms by default. One run on the motor controller runs at 1 kHz.

Returns: The closed-loop controller's period.

◆ GetClosedLoopControllerSlot()

ClosedLoopControllerSlot yams::motorcontrollers::SmartMotorController::GetClosedLoopControllerSlot ( ) const

Get the active closed-loop gain slot.

Returns: Current ClosedLoopControllerSlot.

◆ GetConfig()

virtual SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorController::GetConfig ( )

pure virtual

Get a mutable reference to the current configuration.

Returns: Reference to the SmartMotorControllerConfig.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetDCMotor()

virtual wpi::math::DCMotor yams::motorcontrollers::SmartMotorController::GetDCMotor ( )

pure virtual

Get the DC motor model associated with this controller.

Returns: wpi::math::DCMotor model.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetDutyCycle()

virtual double yams::motorcontrollers::SmartMotorController::GetDutyCycle ( )

pure virtual

Get the current motor duty cycle.

Returns: Duty cycle in [-1, 1].

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetExternalEncoderMechanismPosition()

virtual std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorController::GetExternalEncoderMechanismPosition ( )

pure virtual

Get the mechanism position from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns: Mechanism position in turns from the external encoder, or empty if none is attached.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetExternalEncoderMechanismVelocity()

virtual std::optional< wpi::units::turns_per_second_t > yams::motorcontrollers::SmartMotorController::GetExternalEncoderMechanismVelocity ( )

pure virtual

Get the mechanism velocity from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns: Mechanism velocity in turns per second from the external encoder, or empty if none is attached.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetLooselyCoupledFollowers()

const std::vector< SmartMotorController * > & yams::motorcontrollers::SmartMotorController::GetLooselyCoupledFollowers ( ) const

inline

Get the loosely coupled followers, which are sent the leader's setpoints and run their own closed-loop controllers.

Returns: The loosely coupled followers, empty if there are none.

◆ GetMeasurementAcceleration()

virtual wpi::units::meters_per_second_squared_t yams::motorcontrollers::SmartMotorController::GetMeasurementAcceleration ( )

pure virtual

Get the linear measurement acceleration.

Returns: Linear acceleration in meters per second squared.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMeasurementPosition()

virtual wpi::units::meter_t yams::motorcontrollers::SmartMotorController::GetMeasurementPosition ( )

pure virtual

Get the linear measurement position (applies circumference conversion).

Returns: Linear position in meters.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMeasurementPositionSetpoint()

std::optional< wpi::units::meter_t > yams::motorcontrollers::SmartMotorController::GetMeasurementPositionSetpoint ( ) const

Get the last commanded linear measurement position setpoint. Converts the internal mechanism-angle setpoint using the configured circumference.

Returns: Optional linear position setpoint, or empty if no setpoint has been commanded or no circumference is configured.

◆ GetMeasurementSetpointVelocity()

std::optional< wpi::units::meters_per_second_t > yams::motorcontrollers::SmartMotorController::GetMeasurementSetpointVelocity ( ) const

Get the last commanded linear measurement velocity setpoint. Converts the internal mechanism-velocity setpoint using the configured circumference.

Returns: Optional linear velocity setpoint, or empty if no setpoint has been commanded or no circumference is configured.

◆ GetMeasurementVelocity()

virtual wpi::units::meters_per_second_t yams::motorcontrollers::SmartMotorController::GetMeasurementVelocity ( )

pure virtual

Get the linear measurement velocity (applies circumference conversion).

Returns: Linear velocity in meters per second.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMechanismAcceleration()

virtual wpi::units::turns_per_second_squared_t yams::motorcontrollers::SmartMotorController::GetMechanismAcceleration ( )

pure virtual

Get the mechanism acceleration (derived from velocity).

Returns: Mechanism acceleration in turns per second squared.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMechanismPosition()

virtual wpi::units::turn_t yams::motorcontrollers::SmartMotorController::GetMechanismPosition ( )

pure virtual

Get the mechanism position (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismPosition() to only read the relative encoder.

Returns: Mechanism position in turns.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMechanismPositionSetpoint()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorController::GetMechanismPositionSetpoint ( ) const

Get the last commanded mechanism position setpoint.

Returns: Optional mechanism angle setpoint.

◆ GetMechanismSetpointVelocity()

std::optional< wpi::units::turns_per_second_t > yams::motorcontrollers::SmartMotorController::GetMechanismSetpointVelocity ( ) const

Get the last commanded mechanism velocity setpoint.

Returns: Optional mechanism angular velocity setpoint.

◆ GetMechanismVelocity()

virtual wpi::units::turns_per_second_t yams::motorcontrollers::SmartMotorController::GetMechanismVelocity ( )

pure virtual

Get the mechanism velocity (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismVelocity() to only read the relative encoder.

Returns: Mechanism velocity in turns per second.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMotorController()

virtual void * yams::motorcontrollers::SmartMotorController::GetMotorController ( )

pure virtual

Get a type-erased pointer to the underlying hardware motor controller object.

Returns: void* that can be cast to the concrete motor controller type.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetMotorControllerConfig()

virtual void * yams::motorcontrollers::SmartMotorController::GetMotorControllerConfig ( )

pure virtual

Get a type-erased pointer to the underlying hardware configuration object.

Returns: void* that can be cast to the concrete motor controller config type.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetName()

std::string yams::motorcontrollers::SmartMotorController::GetName ( ) const

Get the telemetry name of this motor controller.

Returns: Name string from the configuration.

◆ GetRelativeMechanismPosition()

virtual wpi::units::turn_t yams::motorcontrollers::SmartMotorController::GetRelativeMechanismPosition ( )

pure virtual

Get the mechanism position from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns: Mechanism position in turns from the relative encoder.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetRelativeMechanismVelocity()

virtual wpi::units::turns_per_second_t yams::motorcontrollers::SmartMotorController::GetRelativeMechanismVelocity ( )

pure virtual

Get the mechanism velocity from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns: Mechanism velocity in turns per second from the relative encoder.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetRotorPosition()

virtual wpi::units::turn_t yams::motorcontrollers::SmartMotorController::GetRotorPosition ( )

pure virtual

Get the raw rotor position (no gearing applied).

Returns: Rotor position in turns.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetRotorVelocity()

virtual wpi::units::turns_per_second_t yams::motorcontrollers::SmartMotorController::GetRotorVelocity ( )

pure virtual

Get the raw rotor velocity (no gearing applied).

Returns: Rotor velocity in turns per second.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetSetpointFeedforwardForce()

std::optional< wpi::units::newton_t > yams::motorcontrollers::SmartMotorController::GetSetpointFeedforwardForce ( ) const

Get the feedforward force last supplied to SetVelocity(velocity, force).

Returns: Optional feedforward force.

◆ GetSimSupplier()

SimSupplier * yams::motorcontrollers::SmartMotorController::GetSimSupplier ( ) const

Get the attached SimSupplier, or nullptr if none is set.

Returns: Raw pointer to the SimSupplier (valid as long as the shared_ptr is held).

◆ GetStatorCurrent()

virtual wpi::units::ampere_t yams::motorcontrollers::SmartMotorController::GetStatorCurrent ( )

pure virtual

Get the stator (output) current draw.

Returns: Stator current.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetSupplyCurrent()

virtual std::optional< wpi::units::ampere_t > yams::motorcontrollers::SmartMotorController::GetSupplyCurrent ( )

pure virtual

Get the supply (input) current draw.

Returns: Supply current, or empty if not supported by the hardware.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetTemperature()

virtual wpi::units::celsius_t yams::motorcontrollers::SmartMotorController::GetTemperature ( )

pure virtual

Get the motor controller temperature.

Returns: Temperature in degrees Celsius.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetUnsupportedTelemetryFields()

virtual telemetry::UnsupportedTelemetryFields yams::motorcontrollers::SmartMotorController::GetUnsupportedTelemetryFields ( )

virtual

Return telemetry fields not supported by this motor controller implementation.

Subclasses override this to disable fields for hardware that lacks certain signals (e.g. SPARK controllers do not expose supply current).

Returns: Struct with optional lists of unsupported boolean and double fields.

Reimplemented in yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetVelocityMeasurementDelay()

virtual std::optional< wpi::units::second_t > yams::motorcontrollers::SmartMotorController::GetVelocityMeasurementDelay ( ) const

virtual

Get how far behind the mechanism the measured velocity is, from how the motor controller filters it, as WPILib's SysId works it out for its presets. Feedback gains worked out for the closed loop depend on it. In simulation, the simulation period, since the simulated sensor is updated once a period.

Returns: The delay, or nullopt if it is not known for this motor controller.

Reimplemented in yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ GetVoltage()

virtual wpi::units::volt_t yams::motorcontrollers::SmartMotorController::GetVoltage ( )

pure virtual

Get the voltage currently applied to the motor.

Returns: Applied voltage.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ IsMotor()

bool yams::motorcontrollers::SmartMotorController::IsMotor	(	const wpi::math::DCMotor &	a,
		const wpi::math::DCMotor &	b
	)		const

Check whether two DCMotor models describe the same motor type.

Parameters

a	First motor model.
b	Second motor model.

Returns: true if the models have matching electrical constants.

◆ IterateClosedLoopController()

void yams::motorcontrollers::SmartMotorController::IterateClosedLoopController ( )

Run one iteration of the closed-loop controller on the calling thread.

◆ LoadLooselyCoupledFollowers()

void yams::motorcontrollers::SmartMotorController::LoadLooselyCoupledFollowers ( )

protected

Populate m_looseFollowers from the current m_config. Call this at the end of each concrete ApplyConfig() implementation.

◆ SeedRelativeEncoder()

virtual void yams::motorcontrollers::SmartMotorController::SeedRelativeEncoder ( )

pure virtual

Seed the relative encoder from the absolute sensor position (one-shot on startup).

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetClosedLoopRampRate()

virtual void yams::motorcontrollers::SmartMotorController::SetClosedLoopRampRate ( wpi::units::second_t rampRate )

pure virtual

Set the closed-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetClosedLoopSlot()

virtual void yams::motorcontrollers::SmartMotorController::SetClosedLoopSlot ( ClosedLoopControllerSlot slot )

pure virtual

Select the active closed-loop gain slot.

Parameters

slot	Gain slot to activate.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetDutyCycle()

virtual void yams::motorcontrollers::SmartMotorController::SetDutyCycle ( double dutyCycle )

pure virtual

Command a duty-cycle output to the motor.

Parameters

dutyCycle Normalized duty cycle in [-1, 1].

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetEncoderInverted()

virtual void yams::motorcontrollers::SmartMotorController::SetEncoderInverted ( bool inverted )

pure virtual

Set the encoder count direction.

Parameters

inverted true to invert the encoder.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetEncoderPosition() [1/2]

virtual void yams::motorcontrollers::SmartMotorController::SetEncoderPosition ( wpi::units::meter_t distance )

pure virtual

Write a linear distance into the encoder (seeds the position).

Parameters

distance Linear distance to write.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetEncoderPosition() [2/2]

virtual void yams::motorcontrollers::SmartMotorController::SetEncoderPosition ( wpi::units::turn_t angle )

pure virtual

Write a mechanism angle into the encoder (seeds the position).

Parameters

angle Mechanism angle to write.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetEncoderVelocity() [1/2]

virtual void yams::motorcontrollers::SmartMotorController::SetEncoderVelocity ( wpi::units::meters_per_second_t velocity )

pure virtual

Write a linear velocity into the encoder.

Parameters

velocity Linear velocity to write.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetEncoderVelocity() [2/2]

virtual void yams::motorcontrollers::SmartMotorController::SetEncoderVelocity ( wpi::units::turns_per_second_t velocity )

pure virtual

Write a mechanism angular velocity into the encoder.

Parameters

velocity Angular velocity to write.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetExponentialProfile()

virtual void yams::motorcontrollers::SmartMotorController::SetExponentialProfile	(	std::optional< double >	kV,
		std::optional< double >	kA,
		std::optional< wpi::units::volt_t >	maxInput
	)

pure virtual

Configure or update the exponential motion profile parameters.

Parameters

kV	Optional velocity constant (empty keeps the current value).
kA	Optional acceleration constant (empty keeps the current value).
maxInput	Optional maximum voltage input (empty keeps the current value).

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetFeedback()

virtual void yams::motorcontrollers::SmartMotorController::SetFeedback	(	double	kP,
		double	kI,
		double	kD
	)

pure virtual

Set all three PID feedback gains at once (live update).

Parameters

kP	Proportional gain.
kI	Integral gain.
kD	Derivative gain.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetFeedforward()

virtual void yams::motorcontrollers::SmartMotorController::SetFeedforward	(	double	kS,
		double	kV,
		double	kA,
		double	kG
	)

pure virtual

Set all four feedforward gains at once (live update).

Parameters

kS	Static friction voltage.
kV	Velocity feedforward coefficient.
kA	Acceleration feedforward coefficient.
kG	Gravity feedforward coefficient.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKa()

virtual void yams::motorcontrollers::SmartMotorController::SetKa ( double kA )

pure virtual

Set the acceleration feedforward coefficient (live update).

Parameters

kA	Acceleration feedforward coefficient.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKd()

virtual void yams::motorcontrollers::SmartMotorController::SetKd ( double kD )

pure virtual

Set the derivative gain (live update).

Parameters

kD	Derivative gain.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKg()

virtual void yams::motorcontrollers::SmartMotorController::SetKg ( double kG )

pure virtual

Set the gravity feedforward coefficient (live update).

Parameters

kG	Gravity feedforward coefficient.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKi()

virtual void yams::motorcontrollers::SmartMotorController::SetKi ( double kI )

pure virtual

Set the integral gain (live update).

Parameters

kI	Integral gain.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKp()

virtual void yams::motorcontrollers::SmartMotorController::SetKp ( double kP )

pure virtual

Set the proportional gain (live update).

Parameters

kP	Proportional gain.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKs()

virtual void yams::motorcontrollers::SmartMotorController::SetKs ( double kS )

pure virtual

Set the static friction feedforward (live update).

Parameters

kS	Static friction voltage.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetKv()

virtual void yams::motorcontrollers::SmartMotorController::SetKv ( double kV )

pure virtual

Set the velocity feedforward coefficient (live update).

Parameters

kV	Velocity feedforward coefficient.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMeasurementLowerLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetMeasurementLowerLimit ( wpi::units::meter_t lowerLimit )

pure virtual

Set the lower linear soft limit for the measurement.

Parameters

lowerLimit Lower distance limit.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMeasurementUpperLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetMeasurementUpperLimit ( wpi::units::meter_t upperLimit )

pure virtual

Set the upper linear soft limit for the measurement.

Parameters

upperLimit Upper distance limit.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismCircumference()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismCircumference ( wpi::units::meter_t circumference )

virtual

Update the mechanism circumference used for linear position/velocity conversions.

The base implementation updates the config; wrappers override it to also reconfigure the hardware.

Parameters

circumference New mechanism circumference.

Reimplemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismGearing()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismGearing ( const gearing::MechanismGearing & gearing )

virtual

Update the mechanism gearing used for position/velocity conversions.

The base implementation updates the config and forwards the gearing to loosely coupled followers; wrappers override it to also reconfigure the hardware.

Parameters

gearing New mechanism gearing.

Reimplemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismLimits()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismLimits	(	wpi::units::turn_t	lower,
		wpi::units::turn_t	upper
	)

pure virtual

Set both angular soft limits for the mechanism.

Parameters

lower	Lower angle limit.
upper	Upper angle limit.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismLimitsEnabled()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismLimitsEnabled ( bool enabled )

pure virtual

Enable or disable the mechanism angular soft limits.

Parameters

enabled true to enforce the limits.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismLowerLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismLowerLimit ( wpi::units::turn_t lowerLimit )

pure virtual

Set the lower angular soft limit for the mechanism.

Parameters

lowerLimit Lower angle limit.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMechanismUpperLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetMechanismUpperLimit ( wpi::units::turn_t upperLimit )

pure virtual

Set the upper angular soft limit for the mechanism.

Parameters

upperLimit Upper angle limit.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotionProfileMaxAcceleration() [1/2]

virtual void yams::motorcontrollers::SmartMotorController::SetMotionProfileMaxAcceleration ( wpi::units::meters_per_second_squared_t maxAcc )

pure virtual

Set the maximum linear acceleration for the motion profile.

Parameters

maxAcc Maximum linear acceleration.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotionProfileMaxAcceleration() [2/2]

virtual void yams::motorcontrollers::SmartMotorController::SetMotionProfileMaxAcceleration ( wpi::units::turns_per_second_squared_t maxAcc )

pure virtual

Set the maximum angular acceleration for the motion profile.

Parameters

maxAcc Maximum mechanism angular acceleration.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotionProfileMaxJerk()

virtual void yams::motorcontrollers::SmartMotorController::SetMotionProfileMaxJerk ( wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk )

pure virtual

Set the maximum angular jerk for the motion profile.

Parameters

maxJerk Maximum angular jerk (degrees/s²/s).

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotionProfileMaxVelocity() [1/2]

virtual void yams::motorcontrollers::SmartMotorController::SetMotionProfileMaxVelocity ( wpi::units::meters_per_second_t maxVelocity )

pure virtual

Set the maximum linear velocity for the motion profile.

Parameters

maxVelocity Maximum linear velocity.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotionProfileMaxVelocity() [2/2]

virtual void yams::motorcontrollers::SmartMotorController::SetMotionProfileMaxVelocity ( wpi::units::turns_per_second_t maxVelocity )

pure virtual

Set the maximum angular velocity for the motion profile.

Parameters

maxVelocity Maximum mechanism angular velocity.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetMotorInverted()

virtual void yams::motorcontrollers::SmartMotorController::SetMotorInverted ( bool inverted )

pure virtual

Set the motor output direction.

Parameters

inverted true to invert the motor direction.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetOpenLoopRampRate()

virtual void yams::motorcontrollers::SmartMotorController::SetOpenLoopRampRate ( wpi::units::second_t rampRate )

pure virtual

Set the open-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetPosition() [1/2]

virtual void yams::motorcontrollers::SmartMotorController::SetPosition ( wpi::units::meter_t distance )

pure virtual

Command a linear measurement position setpoint (closed-loop).

Parameters

distance Target linear distance.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetPosition() [2/2]

virtual void yams::motorcontrollers::SmartMotorController::SetPosition ( wpi::units::turn_t angle )

pure virtual

Command a mechanism angle position setpoint (closed-loop).

Parameters

angle Target mechanism angle.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetSimSupplier()

void yams::motorcontrollers::SmartMotorController::SetSimSupplier ( std::shared_ptr< SimSupplier > supplier )

Attach a SimSupplier that provides physics-model position and velocity for simulation. When set, mechanism SimIterate() calls will use this supplier instead of the internal DCMotorSim.

Parameters

supplier Shared SimSupplier instance, or nullptr to detach.

◆ SetStatorCurrentLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetStatorCurrentLimit ( wpi::units::ampere_t currentLimit )

pure virtual

Set the stator (output) current limit.

Parameters

currentLimit Maximum stator current.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetSupplyCurrentLimit()

virtual void yams::motorcontrollers::SmartMotorController::SetSupplyCurrentLimit ( wpi::units::ampere_t currentLimit )

pure virtual

Set the supply (input) current limit.

Parameters

currentLimit Maximum supply current.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetupLiveTuning()

void yams::motorcontrollers::SmartMotorController::SetupLiveTuning ( )

Set up live tuning for this motor controller when its telemetry verbosity is HIGH, so the values under the Tuning table are applied while the "Live Tuning" command runs. Only sets it up once, however many times it is called.

◆ SetupSimulation()

virtual void yams::motorcontrollers::SmartMotorController::SetupSimulation ( )

pure virtual

Initialize the DCMotorSim used for simulation.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetupTelemetry() [1/2]

void yams::motorcontrollers::SmartMotorController::SetupTelemetry ( )

Set up NetworkTables telemetry using the name configured in the SmartMotorControllerConfig.

◆ SetupTelemetry() [2/2]

void yams::motorcontrollers::SmartMotorController::SetupTelemetry	(	std::shared_ptr< wpi::nt::NetworkTable >	dataTable,
		std::shared_ptr< wpi::nt::NetworkTable >	tuningTable
	)

Set up NetworkTables telemetry using explicit table references.

Parameters

dataTable	Table for sensor and state data.
tuningTable	Table for live gain tuning entries.

◆ SetVelocity() [1/4]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::meters_per_second_t velocity )

pure virtual

Command a linear measurement velocity setpoint (closed-loop).

Parameters

velocity Target linear velocity.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, yams::motorcontrollers::remote::TalonFXWrapper, yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetVelocity() [2/4]

void yams::motorcontrollers::SmartMotorController::SetVelocity	(	wpi::units::meters_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

Command a linear velocity setpoint with an additional feedforward force applied on top.

Throws SmartMotorControllerConfigurationException if the mechanism circumference is not configured.

Parameters

velocity	Target linear velocity.
feedforwardForce	Additional feedforward force at the mechanism.

◆ SetVelocity() [3/4]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::turns_per_second_t velocity )

pure virtual

Command a mechanism angular velocity setpoint (closed-loop).

Parameters

velocity Target mechanism angular velocity.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, yams::motorcontrollers::remote::TalonFXWrapper, yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetVelocity() [4/4]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity	(	wpi::units::turns_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

virtual

Command a mechanism angular velocity setpoint with an additional feedforward force applied on top, e.g. from a path-following set-point generator.

The force is converted to a voltage with SmartMotorControllerConfig::ConvertToVoltage and added by the RoboRIO closed-loop controller, so the mechanism circumference must be set.

Parameters

velocity	Target mechanism angular velocity.
feedforwardForce	Additional feedforward force at the mechanism.

Reimplemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, yams::motorcontrollers::remote::TalonFXWrapper, yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetVoltage()

virtual void yams::motorcontrollers::SmartMotorController::SetVoltage ( wpi::units::volt_t voltage )

pure virtual

Command a voltage output to the motor.

Parameters

voltage Voltage to apply.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SetZeroPower()

virtual void yams::motorcontrollers::SmartMotorController::SetZeroPower ( MotorMode mode )

pure virtual

Set the idle (neutral) mode of the motor.

Parameters

mode	COAST or BRAKE.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ SimIterate()

virtual void yams::motorcontrollers::SmartMotorController::SimIterate ( )

pure virtual

Advance the motor simulation by one loop iteration.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ StartClosedLoopController()

void yams::motorcontrollers::SmartMotorController::StartClosedLoopController ( )

Start the background closed-loop controller thread, and the loosely coupled followers'.

◆ StopClosedLoopController()

void yams::motorcontrollers::SmartMotorController::StopClosedLoopController ( )

Stop the background closed-loop controller thread, and the loosely coupled followers'. The followers are stopped too, as they are not sent the duty cycle or voltage the leader is driven at.

◆ StopLiveTuning()

void yams::motorcontrollers::SmartMotorController::StopLiveTuning ( )

Stop live tuning, as when the "Live Tuning" command ends. A tuning voltage stops, it is turned off in the Tuning table, and the closed-loop controller holds the setpoint again.

◆ SynchronizeRelativeEncoder()

virtual void yams::motorcontrollers::SmartMotorController::SynchronizeRelativeEncoder ( )

pure virtual

Periodically re-synchronize the relative encoder to the absolute sensor.

Implemented in yams::motorcontrollers::local::NovaWrapper, yams::motorcontrollers::local::SparkWrapper, yams::motorcontrollers::remote::TalonFXSWrapper, and yams::motorcontrollers::remote::TalonFXWrapper.

◆ TuningEnabled()

bool yams::motorcontrollers::SmartMotorController::TuningEnabled ( ) const

Whether live tuning is enabled, i.e. whether tunable setpoints are published.

Returns: true if live tuning is enabled.

◆ UpdateTelemetry()

void yams::motorcontrollers::SmartMotorController::UpdateTelemetry ( )

Publish the current sensor readings and setpoints to NetworkTables.

Does nothing unless a telemetry verbosity is configured; sets telemetry up on first use. Live-tuned values are not applied here, only by the "Live Tuning" command (or ApplyTuningValues()).

◆ WithTelemetry()

SmartMotorController & yams::motorcontrollers::SmartMotorController::WithTelemetry ( telemetry::SmartMotorControllerTelemetryConfig config )

Override the telemetry configuration used when publishing data to NetworkTables.

Call before SetupTelemetry() or UpdateTelemetry() to apply fine-grained control over which fields are published.

Parameters

config SmartMotorControllerTelemetryConfig to apply.

Returns: *this for chaining.

Member Data Documentation

◆ m_closed

bool yams::motorcontrollers::SmartMotorController::m_closed {false}

protected

◆ m_closedLoopControllerRunning

bool yams::motorcontrollers::SmartMotorController::m_closedLoopControllerRunning {false}

protected

◆ m_closedLoopControllerThread

std::unique_ptr<wpi::Notifier> yams::motorcontrollers::SmartMotorController::m_closedLoopControllerThread

protected

◆ m_closeHooks

std::vector<std::function<void()> > yams::motorcontrollers::SmartMotorController::m_closeHooks

protected

Hooks run once by Close().

◆ m_config

SmartMotorControllerConfig* yams::motorcontrollers::SmartMotorController::m_config {nullptr}

protected

Config used by this controller (owned by the caller; set by the wrapper constructor before anything else uses it).

◆ m_expoState

std::optional<wpi::math::ExponentialProfile<wpi::units::turns, wpi::units::volts>::State> yams::motorcontrollers::SmartMotorController::m_expoState

protected

◆ m_lastClosedLoopMechanismPosition

std::optional<wpi::units::turn_t> yams::motorcontrollers::SmartMotorController::m_lastClosedLoopMechanismPosition

protected

Mechanism position the closed-loop controller last used, unwrapped across the continuous wrapping point.

◆ m_linearExpoState

std::optional<wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State> yams::motorcontrollers::SmartMotorController::m_linearExpoState

protected

◆ m_linearTrapState

std::optional<wpi::math::TrapezoidProfile<wpi::units::meters>::State> yams::motorcontrollers::SmartMotorController::m_linearTrapState

protected

◆ m_liveTuningRegistered

bool yams::motorcontrollers::SmartMotorController::m_liveTuningRegistered {false}

protected

◆ m_looseFollowers

std::vector<SmartMotorController*> yams::motorcontrollers::SmartMotorController::m_looseFollowers

protected

Loosely coupled followers populated by LoadLooselyCoupledFollowers().

◆ m_lqr

std::optional<math::LQRController> yams::motorcontrollers::SmartMotorController::m_lqr

protected

◆ m_parentTable

std::shared_ptr<wpi::nt::NetworkTable> yams::motorcontrollers::SmartMotorController::m_parentTable

protected

◆ m_pid

std::optional<wpi::math::PIDController> yams::motorcontrollers::SmartMotorController::m_pid

protected

◆ m_setpointFeedforwardForce

std::optional<wpi::units::newton_t> yams::motorcontrollers::SmartMotorController::m_setpointFeedforwardForce

protected

Feedforward force applied on top of the velocity setpoint (see SetVelocity(vel, force)).

◆ m_setpointPosition

std::optional<wpi::units::turn_t> yams::motorcontrollers::SmartMotorController::m_setpointPosition

protected

◆ m_setpointVelocity

std::optional<wpi::units::turns_per_second_t> yams::motorcontrollers::SmartMotorController::m_setpointVelocity

protected

◆ m_simSupplier

std::shared_ptr<SimSupplier> yams::motorcontrollers::SmartMotorController::m_simSupplier

protected

◆ m_slot

ClosedLoopControllerSlot yams::motorcontrollers::SmartMotorController::m_slot {ClosedLoopControllerSlot::SLOT_0}

protected

◆ m_specifiedTelemetryConfig

std::shared_ptr<telemetry::SmartMotorControllerTelemetryConfig> yams::motorcontrollers::SmartMotorController::m_specifiedTelemetryConfig

protected

Telemetry config given to SmartMotorControllerConfig::WithTelemetry(name, config), if any.

◆ m_telemetry

telemetry::SmartMotorControllerTelemetry yams::motorcontrollers::SmartMotorController::m_telemetry

protected

◆ m_telemetryConfig

telemetry::SmartMotorControllerTelemetryConfig yams::motorcontrollers::SmartMotorController::m_telemetryConfig

protected

◆ m_telemetryConfigExplicit

bool yams::motorcontrollers::SmartMotorController::m_telemetryConfigExplicit {false}

protected

◆ m_telemetryTable

std::shared_ptr<wpi::nt::NetworkTable> yams::motorcontrollers::SmartMotorController::m_telemetryTable

protected

◆ m_trapState

std::optional<wpi::math::TrapezoidProfile<wpi::units::turns>::State> yams::motorcontrollers::SmartMotorController::m_trapState

protected

◆ m_tuningTable

std::shared_ptr<wpi::nt::NetworkTable> yams::motorcontrollers::SmartMotorController::m_tuningTable

protected

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

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/SmartMotorController.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ClosedLoopControllerSlot

◆ ControlMode

◆ MotorMode

Constructor & Destructor Documentation

◆ ~SmartMotorController()

Member Function Documentation

◆ AddCloseHook()

◆ ApplyConfig()

◆ ApplyTuningValues()

◆ BatterySimKey()

◆ CheckConfigSafety()

◆ Close()

◆ ConfigureSoftwarePID()

◆ ForwardPositionToFollowers() [1/2]

◆ ForwardPositionToFollowers() [2/2]

◆ ForwardVelocityToFollowers() [1/2]

◆ ForwardVelocityToFollowers() [2/2]

◆ GetClosedLoopControllerPeriod()

◆ GetClosedLoopControllerSlot()

◆ GetConfig()

◆ GetDCMotor()

◆ GetDutyCycle()

◆ GetExternalEncoderMechanismPosition()

◆ GetExternalEncoderMechanismVelocity()

◆ GetLooselyCoupledFollowers()

◆ GetMeasurementAcceleration()

◆ GetMeasurementPosition()

◆ GetMeasurementPositionSetpoint()

◆ GetMeasurementSetpointVelocity()

◆ GetMeasurementVelocity()

◆ GetMechanismAcceleration()

◆ GetMechanismPosition()

◆ GetMechanismPositionSetpoint()

◆ GetMechanismSetpointVelocity()

◆ GetMechanismVelocity()

◆ GetMotorController()

◆ GetMotorControllerConfig()

◆ GetName()

◆ GetRelativeMechanismPosition()

◆ GetRelativeMechanismVelocity()

◆ GetRotorPosition()

◆ GetRotorVelocity()

◆ GetSetpointFeedforwardForce()

◆ GetSimSupplier()

◆ GetStatorCurrent()

◆ GetSupplyCurrent()

◆ GetTemperature()

◆ GetUnsupportedTelemetryFields()

◆ GetVelocityMeasurementDelay()

◆ GetVoltage()

◆ IsMotor()

◆ IterateClosedLoopController()

◆ LoadLooselyCoupledFollowers()

◆ SeedRelativeEncoder()

◆ SetClosedLoopRampRate()

◆ SetClosedLoopSlot()

◆ SetDutyCycle()

◆ SetEncoderInverted()

◆ SetEncoderPosition() [1/2]

◆ SetEncoderPosition() [2/2]

◆ SetEncoderVelocity() [1/2]

◆ SetEncoderVelocity() [2/2]

◆ SetExponentialProfile()

◆ SetFeedback()

◆ SetFeedforward()

◆ SetKa()

◆ SetKd()

◆ SetKg()

◆ SetKi()

◆ SetKp()

◆ SetKs()

◆ SetKv()

◆ SetMeasurementLowerLimit()

◆ SetMeasurementUpperLimit()