#include <SmartMotorControllerConfig.hpp>

Classes
struct	PIDGains

Public Types
enum class	ControlMode { CLOSED_LOOP , OPEN_LOOP }

enum class	MotorMode { COAST , BRAKE }

enum class	TelemetryVerbosity { NONE , LOW , MEDIUM , HIGH }

enum class	ClosedLoopControllerSlot { SLOT_0 , SLOT_1 , SLOT_2 , SLOT_3 }

Public Member Functions
SmartMotorControllerConfig &	WithFeedback (double kP, double kI, double kD, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithFeedforward (const wpi::math::ArmFeedforward &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithFeedforward (const wpi::math::ElevatorFeedforward &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithFeedforward (const wpi::math::SimpleMotorFeedforward< wpi::units::turns > &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithTrapezoidProfile (wpi::units::turns_per_second_t maxVelocity, wpi::units::turns_per_second_squared_t maxAcceleration)

SmartMotorControllerConfig &	WithLinearTrapezoidProfile (wpi::units::meters_per_second_t maxVelocity, wpi::units::meters_per_second_squared_t maxAcceleration)

SmartMotorControllerConfig &	WithVelocityTrapezoidProfile (wpi::units::turns_per_second_squared_t maxAcceleration, wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk)

SmartMotorControllerConfig &	WithVelocityTrapezoidProfile (wpi::units::meters_per_second_squared_t maxAcceleration, meters_per_second_cubed_t maxJerk)

SmartMotorControllerConfig &	WithExponentialProfile (double kV, double kA, wpi::units::volt_t maxInput)

SmartMotorControllerConfig &	WithExponentialProfile (wpi::units::volt_t maxVolts, wpi::math::DCMotor motor, wpi::units::kilogram_square_meter_t moi)

SmartMotorControllerConfig &	WithExponentialProfile (wpi::units::volt_t maxVolts, wpi::math::DCMotor motor, wpi::units::kilogram_t mass, wpi::units::meter_t drumRadius)

SmartMotorControllerConfig &	WithExponentialProfile (wpi::units::volt_t maxVolts, wpi::units::turns_per_second_t maxVelocity, wpi::units::turns_per_second_squared_t maxAcceleration)

SmartMotorControllerConfig &	WithExponentialProfile (wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::Constraints constraints)

SmartMotorControllerConfig &	WithLinearExponentialProfile (double kV, double kA, wpi::units::volt_t maxInput)

SmartMotorControllerConfig &	WithLQR (const math::LQRConfig &lqrConfig, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithLinearClosedLoopController (bool linear)

SmartMotorControllerConfig &	WithClosedLoopTolerance (wpi::units::turn_t tolerance)

SmartMotorControllerConfig &	WithClosedLoopTolerance (wpi::units::meter_t tolerance)

SmartMotorControllerConfig &	WithMotorGearing (const gearing::MechanismGearing &gearing)

SmartMotorControllerConfig &	WithMotorGearing (double reductionRatio)

SmartMotorControllerConfig &	WithCascadingElevatorStages (int stages)

SmartMotorControllerConfig &	WithMechanismCircumference (wpi::units::meter_t circumference)

SmartMotorControllerConfig &	WithMechanismCircumference (wpi::units::meter_t gearPitch, int teeth)

SmartMotorControllerConfig &	WithMechanismDiameter (wpi::units::meter_t diameter)

SmartMotorControllerConfig &	WithMechanismRadius (wpi::units::meter_t radius)

SmartMotorControllerConfig &	WithMechanismLimits (wpi::units::turn_t lower, wpi::units::turn_t upper)

SmartMotorControllerConfig &	WithMeasurementLimits (wpi::units::meter_t lower, wpi::units::meter_t upper)

SmartMotorControllerConfig &	WithStatorCurrentLimit (wpi::units::ampere_t limit)

SmartMotorControllerConfig &	WithSupplyCurrentLimit (wpi::units::ampere_t limit)

SmartMotorControllerConfig &	WithTemperatureCutoff (wpi::units::celsius_t temperature)

SmartMotorControllerConfig &	WithClosedLoopMaxVoltage (wpi::units::volt_t maxVoltage)

SmartMotorControllerConfig &	WithVoltageCompensation (wpi::units::volt_t voltage)

SmartMotorControllerConfig &	WithFeedbackSynchronizationThreshold (wpi::units::turn_t threshold)

SmartMotorControllerConfig &	WithZeroPower (MotorMode mode)

SmartMotorControllerConfig &	WithClosedLoopMode ()

SmartMotorControllerConfig &	WithOpenLoopMode ()

SmartMotorControllerConfig &	WithClosedLoopControlPeriod (wpi::units::second_t period)

SmartMotorControllerConfig &	WithResetPreviousConfig (bool reset)

SmartMotorControllerConfig &	WithOpenLoopRampRate (wpi::units::second_t rampRate)

SmartMotorControllerConfig &	WithClosedLoopRampRate (wpi::units::second_t rampRate)

SmartMotorControllerConfig &	WithMotorInverted (bool inverted)

SmartMotorControllerConfig &	WithEncoderInverted (bool inverted)

SmartMotorControllerConfig &	WithExternalEncoder (std::any encoder)

SmartMotorControllerConfig &	WithUseExternalFeedbackEncoder (bool use)

SmartMotorControllerConfig &	WithExternalEncoderInverted (bool inverted)

SmartMotorControllerConfig &	WithExternalEncoderConversionFactor (double factor)

SmartMotorControllerConfig &	WithExternalEncoderZeroOffset (wpi::units::turn_t zeroOffset)

SmartMotorControllerConfig &	WithExternalEncoderZeroOffset (wpi::units::meter_t zeroOffset)

SmartMotorControllerConfig &	WithExternalEncoderGearing (const gearing::MechanismGearing &gearing)

SmartMotorControllerConfig &	WithExternalEncoderGearing (double reductionRatio)

SmartMotorControllerConfig &	WithExternalEncoderDiscontinuityPoint (wpi::units::turn_t discontinuityPoint)

SmartMotorControllerConfig &	WithContinuousWrapping (wpi::units::turn_t min, wpi::units::turn_t max)

SmartMotorControllerConfig &	WithTelemetry (const std::string &name, TelemetryVerbosity verbosity=TelemetryVerbosity::HIGH)

SmartMotorControllerConfig &	WithTelemetry (TelemetryVerbosity verbosity)

SmartMotorControllerConfig &	WithTelemetry (const std::string &name, telemetry::SmartMotorControllerTelemetryConfig telemetryConfig)

SmartMotorControllerConfig &	WithSubsystem (wpi::cmd::SubsystemBase *subsystem)

SmartMotorControllerConfig &	WithSimMotor (wpi::math::DCMotor motor)

SmartMotorControllerConfig &	WithSimulationPeriod (wpi::units::second_t period)

SmartMotorControllerConfig &	WithSimStartingPosition (wpi::units::degree_t startingAngle)

SmartMotorControllerConfig &	WithSimStartingPosition (wpi::units::meter_t startingDistance)

SmartMotorControllerConfig &	WithSimFeedforward (const wpi::math::ArmFeedforward &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithSimFeedforward (const wpi::math::ElevatorFeedforward &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithSimFeedforward (const wpi::math::SimpleMotorFeedforward< wpi::units::turns > &ff, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithSimClosedLoopController (double kP, double kI, double kD, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithSimClosedLoopController (const math::LQRConfig &lqrConfig, ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0)

SmartMotorControllerConfig &	WithSimTrapezoidProfile (wpi::units::turns_per_second_t maxVelocity, wpi::units::turns_per_second_squared_t maxAcceleration)

SmartMotorControllerConfig &	WithSimTrapezoidProfile (wpi::units::meters_per_second_t maxVelocity, wpi::units::meters_per_second_squared_t maxAcceleration)

SmartMotorControllerConfig &	WithSimExponentialProfile (wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::Constraints constraints)

SmartMotorControllerConfig &	WithMOI (wpi::units::kilogram_square_meter_t moi)

SmartMotorControllerConfig &	WithMOI (wpi::units::meter_t length, wpi::units::kilogram_t mass)

SmartMotorControllerConfig &	WithStartingPosition (wpi::units::degree_t startingAngle)

SmartMotorControllerConfig &	WithStartingPosition (wpi::units::meter_t startingDistance)

SmartMotorControllerConfig &	WithVendorConfig (std::any cfg)

SmartMotorControllerConfig &	WithFollowers (std::vector< std::pair< std::any, bool > > followers)

SmartMotorControllerConfig &	WithLooselyCoupledFollowers (std::vector< SmartMotorController * > followers)

void	ClearFollowers ()

const std::vector< std::pair< std::any, bool > > &	GetFollowers () const

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

SmartMotorControllerConfig	Clone () const

void	ResetValidationCheck () const

void	ValidateBasicOptions () const

void	ValidateExternalEncoderOptions () const

SmartMotorControllerConfig &	WithVendorControlRequest (std::any req)

PIDGains	GetSlotGains (ClosedLoopControllerSlot slot) const

std::optional< wpi::math::ArmFeedforward >	GetArmFeedforward (ClosedLoopControllerSlot slot) const

std::optional< wpi::math::ElevatorFeedforward >	GetElevatorFeedforward (ClosedLoopControllerSlot slot) const

std::optional< wpi::math::SimpleMotorFeedforward< wpi::units::turns > >	GetSimpleFeedforward (ClosedLoopControllerSlot slot) const

std::optional< math::LQRConfig >	GetLQR (ClosedLoopControllerSlot slot) const

double	GetKp (ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0) const

double	GetKi (ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0) const

double	GetKd (ClosedLoopControllerSlot slot=ClosedLoopControllerSlot::SLOT_0) const

bool	GetLinearClosedLoopControllerUse () const

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

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

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

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

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

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

wpi::units::turn_t	GetContinuousWrappingSetpoint (wpi::units::turn_t setpoint, wpi::units::turn_t current) const

std::optional< wpi::units::ampere_t >	GetStatorCurrentLimit () const

std::optional< int >	GetStatorStallCurrentLimit () const

std::optional< int >	GetSupplyStallCurrentLimit () const

std::optional< wpi::units::ampere_t >	GetSupplyCurrentLimit () const

std::optional< wpi::units::celsius_t >	GetTemperatureCutoff () const

std::optional< wpi::units::volt_t >	GetClosedLoopControllerMaximumVoltage () const

std::optional< wpi::units::volt_t >	GetVoltageCompensation () const

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

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

bool	GetResetPreviousConfig () const

ControlMode	GetMotorControllerMode () const

std::optional< MotorMode >	GetZeroPower () const

std::optional< wpi::units::second_t >	GetClosedLoopControlPeriod () const

std::optional< wpi::units::second_t >	GetOpenLoopRampRate () const

std::optional< wpi::units::second_t >	GetClosedLoopRampRate () const

std::optional< bool >	GetMotorInverted () const

std::optional< bool >	GetEncoderInverted () const

bool	GetVelocityTrapezoidalProfileInUse () const

std::optional< std::string >	GetTelemetryName () const

std::optional< TelemetryVerbosity >	GetVerbosity () const

wpi::cmd::SubsystemBase *	GetSubsystem () const

bool	HasSubsystem () const

std::shared_ptr< telemetry::SmartMotorControllerTelemetryConfig >	GetSmartControllerTelemetryConfig () const

std::optional< wpi::math::DCMotor >	GetSimMotor () const

wpi::units::second_t	GetSimulationPeriod () const

wpi::units::kilogram_square_meter_t	GetMOI () const

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

std::optional< std::any >	GetVendorConfig () const

std::optional< std::any >	GetVendorControlRequest () const

const std::optional< gearing::MechanismGearing > &	GetMotorGearing () const

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

std::optional< std::any >	GetExternalEncoder () const

bool	GetUseExternalFeedback () const

std::optional< bool >	GetExternalEncoderInverted () const

std::optional< double >	GetExternalEncoderConversionFactor () const

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

const std::optional< gearing::MechanismGearing > &	GetExternalEncoderGearing () const

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

bool	HasTrapezoidProfile () const

bool	HasExponentialProfile () const

bool	HasLinearExponentialProfile () const

std::optional< wpi::math::TrapezoidProfile< wpi::units::turns > >	GetTrapezoidProfile () const

std::optional< wpi::math::TrapezoidProfile< wpi::units::meters > >	GetLinearTrapezoidProfile () const

std::optional< wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts > >	GetExponentialProfile () const

std::optional< wpi::math::ExponentialProfile< wpi::units::meters, wpi::units::volts > >	GetLinearExponentialProfile () const

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

std::optional< wpi::units::turns_per_second_squared_t >	GetTrapMaxAccelTurns () const

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

std::optional< wpi::units::meters_per_second_squared_t >	GetTrapMaxAccelLinear () const

std::optional< double >	GetExponentialProfileKV () const

std::optional< double >	GetExponentialProfileKA () const

std::optional< wpi::units::volt_t >	GetExponentialProfileMaxInput () const

wpi::units::meter_t	ConvertFromMechanism (wpi::units::turn_t mechanismPosition) const

wpi::units::meters_per_second_t	ConvertFromMechanism (wpi::units::turns_per_second_t mechanismVelocity) const

wpi::units::meters_per_second_squared_t	ConvertFromMechanism (wpi::units::turns_per_second_squared_t mechanismAcceleration) const

meters_per_second_cubed_t	ConvertFromMechanism (wpi::units::angular_jerk::turns_per_second_cubed_t mechanismJerk) const

wpi::units::turn_t	ConvertToMechanism (wpi::units::meter_t distance) const

wpi::units::turns_per_second_t	ConvertToMechanism (wpi::units::meters_per_second_t velocity) const

wpi::units::turns_per_second_squared_t	ConvertToMechanism (wpi::units::meters_per_second_squared_t acceleration) const

wpi::units::angular_jerk::turns_per_second_cubed_t	ConvertToMechanism (meters_per_second_cubed_t jerk) const

wpi::units::volt_t	ConvertToVoltage (const wpi::math::DCMotor &motor, wpi::units::newton_t feedforwardForce) const

wpi::units::ampere_t	ConvertToCurrent (const wpi::math::DCMotor &motor, wpi::units::newton_t feedforwardForce) const

Detailed Description

Unified configuration for a SmartMotorController.

Stores PID/feedforward gains (up to 4 slots), motion-profile parameters, soft limits, current limits, gearing, telemetry settings, and simulation motor model. Uses a fluent builder pattern; all With* methods return *this for chaining.

Member Enumeration Documentation

◆ ClosedLoopControllerSlot

enum class yams::motorcontrollers::SmartMotorControllerConfig::ClosedLoopControllerSlot

strong

Which PID/feedforward gain slot to use (hardware-level slot selection).

Enumerator
SLOT_0
SLOT_1
SLOT_2
SLOT_3

◆ ControlMode

enum class yams::motorcontrollers::SmartMotorControllerConfig::ControlMode

strong

Closed-loop vs open-loop output mode.

Enumerator
CLOSED_LOOP
OPEN_LOOP

◆ MotorMode

enum class yams::motorcontrollers::SmartMotorControllerConfig::MotorMode

strong

Motor idle (neutral) behaviour.

Enumerator
COAST
BRAKE

◆ TelemetryVerbosity

enum class yams::motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

strong

Amount of data published to NetworkTables.

Enumerator
NONE
LOW
MEDIUM
HIGH

Member Function Documentation

◆ ClearFollowers()

void yams::motorcontrollers::SmartMotorControllerConfig::ClearFollowers ( )

Clear the tightly coupled hardware followers so they are not reapplied.

◆ Clone()

SmartMotorControllerConfig yams::motorcontrollers::SmartMotorControllerConfig::Clone ( ) const

Return a deep copy of this configuration.

Useful when multiple motor controllers share the same base config but need independent modifications (e.g. different inversion settings).

Returns: Copy of this SmartMotorControllerConfig.

◆ ConvertFromMechanism() [1/4]

meters_per_second_cubed_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertFromMechanism ( wpi::units::angular_jerk::turns_per_second_cubed_t mechanismJerk ) const

Convert a mechanism jerk to a linear jerk using the configured circumference.

Parameters

mechanismJerk Mechanism jerk to convert.

Returns: Equivalent linear jerk.

◆ ConvertFromMechanism() [2/4]

wpi::units::meter_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertFromMechanism ( wpi::units::turn_t mechanismPosition ) const

Convert a mechanism position (turns) to a linear distance using the configured circumference.

All ConvertFromMechanism/ConvertToMechanism/ConvertToVoltage/ConvertToCurrent overloads throw SmartMotorControllerConfigurationException if the mechanism circumference is not configured.

Parameters

mechanismPosition Mechanism position in turns to convert.

Returns: Equivalent linear distance.

◆ ConvertFromMechanism() [3/4]

wpi::units::meters_per_second_squared_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertFromMechanism ( wpi::units::turns_per_second_squared_t mechanismAcceleration ) const

Convert a mechanism acceleration to a linear acceleration using the configured circumference.

Parameters

mechanismAcceleration Mechanism acceleration to convert.

Returns: Equivalent linear acceleration.

◆ ConvertFromMechanism() [4/4]

wpi::units::meters_per_second_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertFromMechanism ( wpi::units::turns_per_second_t mechanismVelocity ) const

Convert a mechanism velocity (turns/s) to a linear velocity using the configured circumference.

Parameters

mechanismVelocity Mechanism velocity in turns/s to convert.

Returns: Equivalent linear velocity.

◆ ConvertToCurrent()

wpi::units::ampere_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToCurrent	(	const wpi::math::DCMotor &	motor,
		wpi::units::newton_t	feedforwardForce
	)		const

Convert a feedforward force applied at the mechanism into the equivalent motor current, using the gearing and mechanism circumference (e.g. for torque-current closed-loop control).

Parameters

motor	DC motor model of the mechanism.
feedforwardForce	Feedforward force applied to the mechanism.

Returns: Equivalent feedforward current at the motor.

◆ ConvertToMechanism() [1/4]

wpi::units::angular_jerk::turns_per_second_cubed_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToMechanism ( meters_per_second_cubed_t jerk ) const

Convert a linear jerk to a mechanism jerk using the configured circumference.

Parameters

jerk	Linear jerk to convert.

Returns: Equivalent mechanism jerk.

◆ ConvertToMechanism() [2/4]

wpi::units::turn_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToMechanism ( wpi::units::meter_t distance ) const

Convert a linear distance to a mechanism position using the configured circumference.

Parameters

distance Linear distance to convert.

Returns: Equivalent mechanism position.

◆ ConvertToMechanism() [3/4]

wpi::units::turns_per_second_squared_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToMechanism ( wpi::units::meters_per_second_squared_t acceleration ) const

Convert a linear acceleration to a mechanism acceleration using the configured circumference.

Parameters

acceleration Linear acceleration to convert.

Returns: Equivalent mechanism acceleration.

◆ ConvertToMechanism() [4/4]

wpi::units::turns_per_second_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToMechanism ( wpi::units::meters_per_second_t velocity ) const

Convert a linear velocity to a mechanism velocity using the configured circumference.

Parameters

velocity Linear velocity to convert.

Returns: Equivalent mechanism velocity.

◆ ConvertToVoltage()

wpi::units::volt_t yams::motorcontrollers::SmartMotorControllerConfig::ConvertToVoltage	(	const wpi::math::DCMotor &	motor,
		wpi::units::newton_t	feedforwardForce
	)		const

Convert a feedforward force applied at the mechanism into the equivalent motor voltage, using the gearing and mechanism circumference. Only the voltage producing the force (the resistive drop of the matching current) is returned, not the back-EMF of the commanded speed.

Parameters

motor	DC motor model of the mechanism.
feedforwardForce	Feedforward force applied to the mechanism.

Returns: Equivalent feedforward voltage at the motor.

◆ GetArmFeedforward()

std::optional< wpi::math::ArmFeedforward > yams::motorcontrollers::SmartMotorControllerConfig::GetArmFeedforward ( ClosedLoopControllerSlot slot ) const

Get the optional arm feedforward for the specified slot.

Parameters

slot	Gain slot to query.

Returns: ArmFeedforward if configured, otherwise empty.

◆ GetClosedLoopControllerMaximumVoltage()

std::optional< wpi::units::volt_t > yams::motorcontrollers::SmartMotorControllerConfig::GetClosedLoopControllerMaximumVoltage ( ) const

Returns: Optional maximum closed-loop output voltage.

◆ GetClosedLoopControlPeriod()

std::optional< wpi::units::second_t > yams::motorcontrollers::SmartMotorControllerConfig::GetClosedLoopControlPeriod ( ) const

Returns: Optional closed-loop control thread period.

◆ GetClosedLoopRampRate()

std::optional< wpi::units::second_t > yams::motorcontrollers::SmartMotorControllerConfig::GetClosedLoopRampRate ( ) const

Returns: Optional closed-loop ramp rate.

◆ GetClosedLoopTolerance()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetClosedLoopTolerance ( ) const

Returns: Optional closed-loop tolerance in mechanism rotations.

◆ GetContinuousWrapping()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetContinuousWrapping ( ) const

Returns: Optional upper continuous wrapping bound (turns). Erases ContinuousWrapping tracking.

◆ GetContinuousWrappingMin()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetContinuousWrappingMin ( ) const

Returns: Optional lower continuous wrapping bound (turns).

◆ GetContinuousWrappingSetpoint()

wpi::units::turn_t yams::motorcontrollers::SmartMotorControllerConfig::GetContinuousWrappingSetpoint	(	wpi::units::turn_t	setpoint,
		wpi::units::turn_t	current
	)		const

Get the position setpoint to command with continuous wrapping: the angle equivalent to setpoint, a whole number of wrapping ranges away, that is nearest current.

Parameters

setpoint	Mechanism angle to go to.
current	Current mechanism angle.

Returns: The equivalent setpoint nearest current, or setpoint unchanged when continuous wrapping is not configured.

◆ GetElevatorFeedforward()

std::optional< wpi::math::ElevatorFeedforward > yams::motorcontrollers::SmartMotorControllerConfig::GetElevatorFeedforward ( ClosedLoopControllerSlot slot ) const

Get the optional elevator feedforward for the specified slot.

Parameters

slot	Gain slot to query.

Returns: ElevatorFeedforward if configured, otherwise empty.

◆ GetEncoderInverted()

std::optional< bool > yams::motorcontrollers::SmartMotorControllerConfig::GetEncoderInverted ( ) const

Returns: Encoder inverted state if explicitly configured, otherwise empty.

◆ GetExponentialProfile()

std::optional< wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts > > yams::motorcontrollers::SmartMotorControllerConfig::GetExponentialProfile ( ) const

Returns: Optional angular exponential profile.

◆ GetExponentialProfileKA()

std::optional< double > yams::motorcontrollers::SmartMotorControllerConfig::GetExponentialProfileKA ( ) const

Returns: Optional kA for CTRE MotionMagicExpo (V*s²/turn = V/(turn/s²)).

◆ GetExponentialProfileKV()

std::optional< double > yams::motorcontrollers::SmartMotorControllerConfig::GetExponentialProfileKV ( ) const

Returns: Optional kV for CTRE MotionMagicExpo (V*s/turn = V/(turn/s)).

◆ GetExponentialProfileMaxInput()

std::optional< wpi::units::volt_t > yams::motorcontrollers::SmartMotorControllerConfig::GetExponentialProfileMaxInput ( ) const

Returns: Optional maximum input voltage for the exponential profile.

◆ GetExternalEncoder()

std::optional< std::any > yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoder ( ) const

Returns: Optional external encoder hardware object (type-erased).

◆ GetExternalEncoderConversionFactor()

std::optional< double > yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoderConversionFactor ( ) const

Returns: Optional external encoder direct conversion factor override.

◆ GetExternalEncoderDiscontinuityPoint()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoderDiscontinuityPoint ( ) const

Returns: Optional external encoder discontinuity point (turns).

◆ GetExternalEncoderGearing()

const std::optional< gearing::MechanismGearing > & yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoderGearing ( ) const

Returns: Optional external encoder gearing.

◆ GetExternalEncoderInverted()

std::optional< bool > yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoderInverted ( ) const

Returns: Optional external encoder inversion override. Always false in simulation when configured, since simulated sensors are not inverted.

◆ GetExternalEncoderZeroOffset()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetExternalEncoderZeroOffset ( ) const

Returns: Optional external encoder zero offset (turns).

◆ GetFeedbackSynchronizationThreshold()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetFeedbackSynchronizationThreshold ( ) const

Returns: Optional relative-to-absolute encoder synchronization threshold.

◆ GetFollowers()

const std::vector< std::pair< std::any, bool > > & yams::motorcontrollers::SmartMotorControllerConfig::GetFollowers ( ) const

Get the list of tightly coupled hardware followers.

◆ GetKd()

double yams::motorcontrollers::SmartMotorControllerConfig::GetKd ( ClosedLoopControllerSlot slot = ClosedLoopControllerSlot::SLOT_0 ) const

Get the derivative gain for the specified slot.

Parameters

slot	Gain slot to query (default SLOT_0).

Returns: kD value.

◆ GetKi()

double yams::motorcontrollers::SmartMotorControllerConfig::GetKi ( ClosedLoopControllerSlot slot = ClosedLoopControllerSlot::SLOT_0 ) const

Get the integral gain for the specified slot.

Parameters

slot	Gain slot to query (default SLOT_0).

Returns: kI value.

◆ GetKp()

double yams::motorcontrollers::SmartMotorControllerConfig::GetKp ( ClosedLoopControllerSlot slot = ClosedLoopControllerSlot::SLOT_0 ) const

Get the proportional gain for the specified slot.

Parameters

slot	Gain slot to query (default SLOT_0).

Returns: kP value.

◆ GetLinearClosedLoopControllerUse()

bool yams::motorcontrollers::SmartMotorControllerConfig::GetLinearClosedLoopControllerUse ( ) const

Return true if the config targets a linear (distance-based) closed-loop controller.

Returns: true when linear closed-loop control is enabled and a mechanism circumference is set.

◆ GetLinearExponentialProfile()

std::optional< wpi::math::ExponentialProfile< wpi::units::meters, wpi::units::volts > > yams::motorcontrollers::SmartMotorControllerConfig::GetLinearExponentialProfile ( ) const

Returns: Optional linear (meters-based) exponential profile.

◆ GetLinearTrapezoidProfile()

std::optional< wpi::math::TrapezoidProfile< wpi::units::meters > > yams::motorcontrollers::SmartMotorControllerConfig::GetLinearTrapezoidProfile ( ) const

Returns: Optional linear trapezoidal profile.

◆ GetLooselyCoupledFollowers()

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

Get the list of loosely coupled SmartMotorController followers.

◆ GetLQR()

std::optional< math::LQRConfig > yams::motorcontrollers::SmartMotorControllerConfig::GetLQR ( ClosedLoopControllerSlot slot ) const

Get the optional LQR configuration for the specified slot.

Parameters

slot	Gain slot to query.

Returns: LQRConfig if configured, otherwise empty.

◆ GetMeasurementLowerLimit()

std::optional< wpi::units::meter_t > yams::motorcontrollers::SmartMotorControllerConfig::GetMeasurementLowerLimit ( ) const

Returns: Optional lower linear soft limit.

◆ GetMeasurementUpperLimit()

std::optional< wpi::units::meter_t > yams::motorcontrollers::SmartMotorControllerConfig::GetMeasurementUpperLimit ( ) const

Returns: Optional upper linear soft limit.

◆ GetMechanismCircumference()

std::optional< wpi::units::meter_t > yams::motorcontrollers::SmartMotorControllerConfig::GetMechanismCircumference ( ) const

Returns: Optional mechanism circumference for linear conversion.

◆ GetMechanismLowerLimit()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetMechanismLowerLimit ( ) const

Returns: Optional lower angular soft limit (in turns).

◆ GetMechanismUpperLimit()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetMechanismUpperLimit ( ) const

Returns: Optional upper angular soft limit (in turns).

◆ GetMOI()

wpi::units::kilogram_square_meter_t yams::motorcontrollers::SmartMotorControllerConfig::GetMOI ( ) const

Returns: Moment of inertia for simulation (kg·m²).

◆ GetMotorControllerMode()

ControlMode yams::motorcontrollers::SmartMotorControllerConfig::GetMotorControllerMode ( ) const

Returns: Current control mode (CLOSED_LOOP or OPEN_LOOP).

◆ GetMotorGearing()

const std::optional< gearing::MechanismGearing > & yams::motorcontrollers::SmartMotorControllerConfig::GetMotorGearing ( ) const

Returns: Optional mechanism gearing.

◆ GetMotorInverted()

std::optional< bool > yams::motorcontrollers::SmartMotorControllerConfig::GetMotorInverted ( ) const

Returns: Inverted state if explicitly configured, otherwise empty. Always false in simulation when configured, since simulated physics are not inverted.

◆ GetOpenLoopRampRate()

std::optional< wpi::units::second_t > yams::motorcontrollers::SmartMotorControllerConfig::GetOpenLoopRampRate ( ) const

Returns: Optional open-loop ramp rate.

◆ GetResetPreviousConfig()

bool yams::motorcontrollers::SmartMotorControllerConfig::GetResetPreviousConfig ( ) const

Returns: true if the previous motor controller configuration should be reset.

◆ GetSimMotor()

std::optional< wpi::math::DCMotor > yams::motorcontrollers::SmartMotorControllerConfig::GetSimMotor ( ) const

Returns: Optional DC motor model for simulation.

◆ GetSimpleFeedforward()

std::optional< wpi::math::SimpleMotorFeedforward< wpi::units::turns > > yams::motorcontrollers::SmartMotorControllerConfig::GetSimpleFeedforward ( ClosedLoopControllerSlot slot ) const

Get the optional simple motor feedforward for the specified slot.

Parameters

slot	Gain slot to query.

Returns: SimpleMotorFeedforward if configured, otherwise empty.

◆ GetSimulationPeriod()

wpi::units::second_t yams::motorcontrollers::SmartMotorControllerConfig::GetSimulationPeriod ( ) const

Returns: Simulation loop period (default 20 ms).

◆ GetSlotGains()

PIDGains yams::motorcontrollers::SmartMotorControllerConfig::GetSlotGains ( ClosedLoopControllerSlot slot ) const

Get all gains for the specified closed-loop slot.

In simulation, any overrides set via WithSimClosedLoopController or WithSimFeedforward are merged into the returned copy.

Parameters

slot	Gain slot to query.

Returns: PIDGains for that slot (simulation overrides applied when in sim).

◆ GetSmartControllerTelemetryConfig()

std::shared_ptr< telemetry::SmartMotorControllerTelemetryConfig > yams::motorcontrollers::SmartMotorControllerConfig::GetSmartControllerTelemetryConfig ( ) const

Returns: Telemetry configuration set via WithTelemetry(name, telemetryConfig), or nullptr if none was given.

◆ GetStartingPosition()

std::optional< wpi::units::turn_t > yams::motorcontrollers::SmartMotorControllerConfig::GetStartingPosition ( ) const

Returns: Optional starting mechanism position (turns).

◆ GetStatorCurrentLimit()

std::optional< wpi::units::ampere_t > yams::motorcontrollers::SmartMotorControllerConfig::GetStatorCurrentLimit ( ) const

Returns: Optional stator current limit.

◆ GetStatorStallCurrentLimit()

std::optional< int > yams::motorcontrollers::SmartMotorControllerConfig::GetStatorStallCurrentLimit ( ) const

Returns: Optional stator stall current limit (integer amps).

◆ GetSubsystem()

wpi::cmd::SubsystemBase * yams::motorcontrollers::SmartMotorControllerConfig::GetSubsystem ( ) const

Returns: Owning subsystem pointer. Throws SmartMotorControllerConfigurationException if no subsystem has been set.

◆ GetSupplyCurrentLimit()

std::optional< wpi::units::ampere_t > yams::motorcontrollers::SmartMotorControllerConfig::GetSupplyCurrentLimit ( ) const

Returns: Optional supply current limit.

◆ GetSupplyStallCurrentLimit()

std::optional< int > yams::motorcontrollers::SmartMotorControllerConfig::GetSupplyStallCurrentLimit ( ) const

Returns: Optional supply stall current limit (integer amps).

◆ GetTelemetryName()

std::optional< std::string > yams::motorcontrollers::SmartMotorControllerConfig::GetTelemetryName ( ) const

Returns: Optional NetworkTables telemetry name.

◆ GetTemperatureCutoff()

std::optional< wpi::units::celsius_t > yams::motorcontrollers::SmartMotorControllerConfig::GetTemperatureCutoff ( ) const

Returns: Optional temperature cutoff.

◆ GetTrapezoidProfile()

std::optional< wpi::math::TrapezoidProfile< wpi::units::turns > > yams::motorcontrollers::SmartMotorControllerConfig::GetTrapezoidProfile ( ) const

Returns: Optional angular trapezoidal profile.

◆ GetTrapMaxAccelLinear()

std::optional< wpi::units::meters_per_second_squared_t > yams::motorcontrollers::SmartMotorControllerConfig::GetTrapMaxAccelLinear ( ) const

Returns: Optional max linear acceleration constraint for hardware configuration.

◆ GetTrapMaxAccelTurns()

std::optional< wpi::units::turns_per_second_squared_t > yams::motorcontrollers::SmartMotorControllerConfig::GetTrapMaxAccelTurns ( ) const

Returns: Optional max angular acceleration constraint for hardware configuration.

◆ GetTrapMaxVelocityLinear()

std::optional< wpi::units::meters_per_second_t > yams::motorcontrollers::SmartMotorControllerConfig::GetTrapMaxVelocityLinear ( ) const

Returns: Optional max linear velocity constraint for hardware configuration.

◆ GetTrapMaxVelocityTurns()

std::optional< wpi::units::turns_per_second_t > yams::motorcontrollers::SmartMotorControllerConfig::GetTrapMaxVelocityTurns ( ) const

Returns: Optional max angular velocity constraint for hardware configuration.

◆ GetUseExternalFeedback()

bool yams::motorcontrollers::SmartMotorControllerConfig::GetUseExternalFeedback ( ) const

Returns: true if the external encoder should be the PID feedback source.

◆ GetVelocityTrapezoidalProfileInUse()

bool yams::motorcontrollers::SmartMotorControllerConfig::GetVelocityTrapezoidalProfileInUse ( ) const

Returns: true if a velocity trapezoidal profile is configured.

◆ GetVendorConfig()

std::optional< std::any > yams::motorcontrollers::SmartMotorControllerConfig::GetVendorConfig ( ) const

Returns: Optional vendor-specific hardware config (set via WithVendorConfig).

◆ GetVendorControlRequest()

std::optional< std::any > yams::motorcontrollers::SmartMotorControllerConfig::GetVendorControlRequest ( ) const

Returns: Optional vendor-specific control request (set via WithVendorControlRequest).

◆ GetVerbosity()

std::optional< TelemetryVerbosity > yams::motorcontrollers::SmartMotorControllerConfig::GetVerbosity ( ) const

Returns: Optional telemetry verbosity level.

◆ GetVoltageCompensation()

std::optional< wpi::units::volt_t > yams::motorcontrollers::SmartMotorControllerConfig::GetVoltageCompensation ( ) const

Returns: Optional voltage compensation (nominal) voltage.

◆ GetZeroPower()

std::optional< MotorMode > yams::motorcontrollers::SmartMotorControllerConfig::GetZeroPower ( ) const

Returns: Zero power mode (COAST or BRAKE) if configured, otherwise empty.

◆ HasExponentialProfile()

bool yams::motorcontrollers::SmartMotorControllerConfig::HasExponentialProfile ( ) const

Returns: true if an angular exponential motion profile is configured.

◆ HasLinearExponentialProfile()

bool yams::motorcontrollers::SmartMotorControllerConfig::HasLinearExponentialProfile ( ) const

Returns: true if a linear (meters-based) exponential motion profile is configured.

◆ HasSubsystem()

bool yams::motorcontrollers::SmartMotorControllerConfig::HasSubsystem ( ) const

Returns: true if a subsystem has been set via WithSubsystem.

◆ HasTrapezoidProfile()

bool yams::motorcontrollers::SmartMotorControllerConfig::HasTrapezoidProfile ( ) const

Returns: true if a trapezoidal motion profile is configured.

◆ ResetValidationCheck()

void yams::motorcontrollers::SmartMotorControllerConfig::ResetValidationCheck ( ) const

Reset the validation tracking sets so that a fresh ApplyConfig pass can be verified.

Call this at the very start of ApplyConfig in every SmartMotorController wrapper.

◆ ValidateBasicOptions()

void yams::motorcontrollers::SmartMotorControllerConfig::ValidateBasicOptions ( ) const

Assert that every tracked basic config option was accessed during ApplyConfig.

Throws SmartMotorControllerConfigurationException if any option was never fetched, indicating that the wrapper's ApplyConfig implementation is incomplete.

◆ ValidateExternalEncoderOptions()

void yams::motorcontrollers::SmartMotorControllerConfig::ValidateExternalEncoderOptions ( ) const

Assert that every tracked external-encoder config option was accessed during ApplyConfig.

Throws SmartMotorControllerConfigurationException if any option was never fetched.

◆ WithCascadingElevatorStages()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithCascadingElevatorStages ( int stages )

Divide the configured gearing by the number of cascading elevator stages.

Throws SmartMotorControllerConfigurationException if no gearing is configured.

Parameters

stages Number of cascading stages.

Returns: *this for chaining.

◆ WithClosedLoopControlPeriod()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopControlPeriod ( wpi::units::second_t period )

Override the closed-loop control thread period.

Parameters

period Desired loop period.

Returns: *this for chaining.

◆ WithClosedLoopMaxVoltage()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopMaxVoltage ( wpi::units::volt_t maxVoltage )

Set the maximum voltage the closed-loop controller may output.

Parameters

maxVoltage Maximum closed-loop output voltage.

Returns: *this for chaining.

◆ WithClosedLoopMode()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopMode ( )

Switch to closed-loop control mode.

Returns: *this for chaining.

◆ WithClosedLoopRampRate()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopRampRate ( wpi::units::second_t rampRate )

Set the closed-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Returns: *this for chaining.

◆ WithClosedLoopTolerance() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopTolerance ( wpi::units::meter_t tolerance )

Set the closed-loop tolerance of the software PID controller as a distance.

Throws SmartMotorControllerConfigurationException if the linear closed-loop controller is not in use, the mechanism circumference is not configured, or no PID gains are configured.

Parameters

tolerance Distance tolerance.

Returns: *this for chaining.

◆ WithClosedLoopTolerance() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithClosedLoopTolerance ( wpi::units::turn_t tolerance )

Set the closed-loop tolerance of the software PID controller in mechanism rotations.

Throws SmartMotorControllerConfigurationException if no PID gains are configured.

Parameters

tolerance Position tolerance.

Returns: *this for chaining.

◆ WithContinuousWrapping()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithContinuousWrapping	(	wpi::units::turn_t	min,
		wpi::units::turn_t	max
	)

Enable continuous position wrapping for the closed-loop controller.

Throws SmartMotorControllerConfigurationException if soft limits or a linear closed-loop controller are already configured, or if no PID or LQR controller is configured.

Parameters

min	Bottom of the wrapping range (turns).
max	Top of the wrapping range (turns).

Returns: *this for chaining.

◆ WithEncoderInverted()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithEncoderInverted ( bool inverted )

Set the encoder count direction.

Parameters

inverted true to invert the encoder.

Returns: *this for chaining.

◆ WithExponentialProfile() [1/5]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExponentialProfile	(	double	kV,
		double	kA,
		wpi::units::volt_t	maxInput
	)

Enable an exponential motion profile for position control.

Parameters

kV	Velocity constant.
kA	Acceleration constant.
maxInput	Maximum voltage input.

Returns: *this for chaining.

◆ WithExponentialProfile() [2/5]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExponentialProfile ( wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::Constraints constraints )

Set the exponential motion profile directly from a Constraints object.

Parameters

constraints Pre-built ExponentialProfile Constraints.

Returns: *this for chaining.

◆ WithExponentialProfile() [3/5]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExponentialProfile	(	wpi::units::volt_t	maxVolts,
		wpi::math::DCMotor	motor,
		wpi::units::kilogram_square_meter_t	moi
	)

Derive an exponential motion profile from arm/flywheel system characteristics.

Computes kV and kA from the motor model and moment of inertia via the flywheel velocity state-space model. Uses the gearing configured via WithMotorGearing (defaults to 1:1 if not set).

Parameters

maxVolts	Maximum input voltage.
motor	DC motor model.
moi	Moment of inertia of the mechanism.

Returns: *this for chaining.

◆ WithExponentialProfile() [4/5]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExponentialProfile	(	wpi::units::volt_t	maxVolts,
		wpi::math::DCMotor	motor,
		wpi::units::kilogram_t	mass,
		wpi::units::meter_t	drumRadius
	)

Derive a linear exponential motion profile from elevator system characteristics.

Computes kV and kA from the motor model, carriage mass, and drum radius via the elevator velocity state-space model. Also sets the mechanism circumference and activates linear closed-loop mode.

Parameters

maxVolts	Maximum input voltage.
motor	DC motor model.
mass	Mass of the elevator carriage.
drumRadius	Radius of the elevator drum.

Returns: *this for chaining.

◆ WithExponentialProfile() [5/5]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExponentialProfile	(	wpi::units::volt_t	maxVolts,
		wpi::units::turns_per_second_t	maxVelocity,
		wpi::units::turns_per_second_squared_t	maxAcceleration
	)

Build an exponential motion profile from max velocity and acceleration constraints.

Parameters

maxVolts	Maximum input voltage.
maxVelocity	Maximum angular velocity.
maxAcceleration	Maximum angular acceleration.

Returns: *this for chaining.

◆ WithExternalEncoder()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoder ( std::any encoder )

Attach an external (absolute) encoder hardware object to this configuration.

The encoder object is stored as std::any and unpacked inside the motor-controller wrapper (e.g. SparkWrapper expects a rev::spark::SparkAbsoluteEncoder*; TalonFXWrapper / TalonFXSWrapper accept a ctre::phoenix6::hardware::CANcoder* or ctre::phoenix6::hardware::CANdi*).

Note: When passing a CANdi, the TalonFX(S) configuration must also have Feedback.FeedbackSensorSource (TalonFX) or ExternalFeedback.ExternalFeedbackSensorSource (TalonFXS) pre-set to one of SyncCANdiPWM1, RemoteCANdiPWM1, SyncCANdiPWM2, or RemoteCANdiPWM2 via a vendor config so that ApplyConfig() knows which PWM channel to configure. Without this, offset, inversion, and discontinuity-point settings will not be applied to either channel.

Parameters

encoder External encoder hardware object pointer.

Returns: *this for chaining.

◆ WithExternalEncoderConversionFactor()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderConversionFactor ( double factor )

Override the external encoder position/velocity conversion factor directly.

When set this takes priority over the gearing-derived conversion factor from WithExternalEncoderGearing. Prefer WithExternalEncoderGearing for type safety.

Parameters

factor Conversion factor (raw encoder units → mechanism turns).

Returns: *this for chaining.

◆ WithExternalEncoderDiscontinuityPoint()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderDiscontinuityPoint ( wpi::units::turn_t discontinuityPoint )

Set the discontinuity point for absolute encoder wrapping.

Must be exactly 0.5_tr (encoder reads [−0.5, 0.5]) or 1_tr (reads [0, 1]). Throws SmartMotorControllerConfigurationException otherwise.

Parameters

discontinuityPoint Wrap-around point (0.5 or 1 turns).

Returns: *this for chaining.

◆ WithExternalEncoderGearing() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderGearing ( const gearing::MechanismGearing & gearing )

Set the external encoder gearing (encoder to mechanism).

Emits a driver station warning if the rotor-to-mechanism ratio exceeds 1, since the encoder may alias and report duplicate angles.

Parameters

gearing MechanismGearing describing the external encoder drive train.

Returns: *this for chaining.

◆ WithExternalEncoderGearing() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderGearing ( double reductionRatio )

Set the external encoder gearing from a scalar reduction ratio.

Parameters

reductionRatio Reduction ratio (e.g. 3.0 for a 3:1 reduction).

Returns: *this for chaining.

◆ WithExternalEncoderInverted()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderInverted ( bool inverted )

Invert the external encoder independently of the motor output direction.

Parameters

inverted true to invert the external encoder reading.

Returns: *this for chaining.

◆ WithExternalEncoderZeroOffset() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderZeroOffset ( wpi::units::meter_t zeroOffset )

Set the external encoder zero-point offset as a distance.

Throws SmartMotorControllerConfigurationException if the mechanism circumference is not configured.

Parameters

zeroOffset Hardware zero offset as a linear distance.

Returns: *this for chaining.

◆ WithExternalEncoderZeroOffset() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithExternalEncoderZeroOffset ( wpi::units::turn_t zeroOffset )

Set the external encoder zero-point offset stored in the encoder hardware.

Parameters

zeroOffset Hardware zero offset (turns).

Returns: *this for chaining.

◆ WithFeedback()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFeedback	(	double	kP,
		double	kI,
		double	kD,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Set PID feedback gains for the specified slot.

Parameters

kP	Proportional gain.
kI	Integral gain.
kD	Derivative gain.
slot	Gain slot to write (default SLOT_0).

Returns: *this for chaining.

◆ WithFeedbackSynchronizationThreshold()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFeedbackSynchronizationThreshold ( wpi::units::turn_t threshold )

Set the angle error beyond which the relative encoder is resynchronized to the absolute encoder.

Throws SmartMotorControllerConfigurationException if a mechanism circumference is configured, since auto-synchronization is unavailable for distance based mechanisms.

Parameters

threshold Synchronization threshold.

Returns: *this for chaining.

◆ WithFeedforward() [1/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFeedforward	(	const wpi::math::ArmFeedforward &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Configure an arm feedforward model for the specified slot.

Parameters

ff	ArmFeedforward (kS, kG, kV, kA) to use.
slot	Gain slot to write (default SLOT_0).

Returns: *this for chaining.

◆ WithFeedforward() [2/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFeedforward	(	const wpi::math::ElevatorFeedforward &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Configure an elevator feedforward model for the specified slot.

Parameters

ff	ElevatorFeedforward (kS, kG, kV, kA) to use.
slot	Gain slot to write (default SLOT_0).

Returns: *this for chaining.

◆ WithFeedforward() [3/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFeedforward	(	const wpi::math::SimpleMotorFeedforward< wpi::units::turns > &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Configure a simple motor feedforward model for the specified slot.

Parameters

ff	SimpleMotorFeedforward (kS, kV, kA) to use.
slot	Gain slot to write (default SLOT_0).

Returns: *this for chaining.

◆ WithFollowers()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithFollowers ( std::vector< std::pair< std::any, bool > > followers )

Configure tightly coupled hardware followers for this motor controller.

Followers must be the same vendor as the master (CTRE or REV). TalonFX and TalonFXS are cross-compatible as Phoenix 6 followers. Type checking is performed inside the wrapper's ApplyConfig; passing an incompatible type emits a driver-station warning and is ignored.

Parameters

followers Vector of (hardware object pointer, opposeMasterDirection) pairs. Hardware pointers are stored via std::any.

Returns: *this for chaining.

◆ WithLinearClosedLoopController()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithLinearClosedLoopController ( bool linear )

Set whether the closed-loop controller runs in linear (distance based) units.

Linear mode only takes effect when a mechanism circumference is also configured. It is enabled automatically by elevator feedforwards, linear trapezoidal profiles, and the elevator exponential profile.

Parameters

linear true for meters-based closed-loop control, false for rotations.

Returns: *this for chaining.

◆ WithLinearExponentialProfile()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithLinearExponentialProfile	(	double	kV,
		double	kA,
		wpi::units::volt_t	maxInput
	)

Set a linear (meters based) exponential motion profile directly from its gains.

Requires a mechanism circumference (throws SmartMotorControllerConfigurationException otherwise) and switches the closed-loop controller to linear units.

Parameters

kV	Velocity constant in volts per meter per second.
kA	Acceleration constant in volts per meter per second squared.
maxInput	Maximum voltage input.

Returns: *this for chaining.

◆ WithLinearTrapezoidProfile()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithLinearTrapezoidProfile	(	wpi::units::meters_per_second_t	maxVelocity,
		wpi::units::meters_per_second_squared_t	maxAcceleration
	)

Enable a trapezoidal motion profile for linear position control.

Parameters

maxVelocity	Maximum linear velocity constraint.
maxAcceleration	Maximum linear acceleration constraint.

Returns: *this for chaining.

◆ WithLooselyCoupledFollowers()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithLooselyCoupledFollowers ( std::vector< SmartMotorController * > followers )

Configure loosely coupled SmartMotorController followers.

Only position and velocity setpoint requests are forwarded to these followers; configurations are not transferred. Typically used when follower motors have independent gains (e.g. inverted orientation) or a different controller brand.

Parameters

followers SmartMotorController instances to mirror setpoints.

Returns: *this for chaining.

◆ WithLQR()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithLQR	(	const math::LQRConfig &	lqrConfig,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Attach an LQR configuration to the specified gain slot.

Parameters

lqrConfig	LQRConfig to use.
slot	Gain slot to write (default SLOT_0).

Returns: *this for chaining.

◆ WithMeasurementLimits()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMeasurementLimits	(	wpi::units::meter_t	lower,
		wpi::units::meter_t	upper
	)

Set linear soft limits for the mechanism.

The limits are converted into mechanism angle limits with the mechanism circumference, so WithMechanismCircumference must be called first. Throws SmartMotorControllerConfigurationException if the circumference is not configured or if lower is not below upper.

Parameters

lower	Lower distance limit.
upper	Upper distance limit.

Returns: *this for chaining.

◆ WithMechanismCircumference() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMechanismCircumference ( wpi::units::meter_t circumference )

Set the mechanism circumference for linear distance conversion.

Parameters

circumference Wheel or drum circumference in meters.

Returns: *this for chaining.

◆ WithMechanismCircumference() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMechanismCircumference	(	wpi::units::meter_t	gearPitch,
		int	teeth
	)

Set the mechanism circumference from a sprocket or gear pitch and tooth count.

Circumference is computed as gearPitch × teeth.

Parameters

gearPitch	Distance between teeth (e.g. 0.25_in for #25 chain).
teeth	Number of teeth on the sprocket or gear.

Returns: *this for chaining.

◆ WithMechanismDiameter()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMechanismDiameter ( wpi::units::meter_t diameter )

Set the mechanism circumference from a wheel or drum diameter.

Circumference is computed as π × diameter.

Parameters

diameter Wheel or drum diameter.

Returns: *this for chaining.

◆ WithMechanismLimits()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMechanismLimits	(	wpi::units::turn_t	lower,
		wpi::units::turn_t	upper
	)

Set angular soft limits for the mechanism.

Throws SmartMotorControllerConfigurationException if lower is not below upper.

Parameters

lower	Lower angle limit (in turns; accepts any angular unit via implicit conversion).
upper	Upper angle limit (in turns; accepts any angular unit via implicit conversion).

Returns: *this for chaining.

◆ WithMechanismRadius()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMechanismRadius ( wpi::units::meter_t radius )

Set the mechanism circumference from a wheel or drum radius.

Circumference is computed as 2π × radius.

Parameters

radius Wheel or drum radius.

Returns: *this for chaining.

◆ WithMOI() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMOI ( wpi::units::kilogram_square_meter_t moi )

Set the moment of inertia of the mechanism for simulation.

Parameters

moi	Moment of inertia in kg·m².

Returns: *this for chaining.

◆ WithMOI() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMOI	(	wpi::units::meter_t	length,
		wpi::units::kilogram_t	mass
	)

Estimate and set the moment of inertia for simulation from arm length and mass.

Uses SingleJointedArmSim::EstimateMOI (1/3 * mass * length²).

Parameters

length	Arm length.
mass	Arm mass.

Returns: *this for chaining.

◆ WithMotorGearing() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMotorGearing ( const gearing::MechanismGearing & gearing )

Set the mechanism gearing (rotor-to-mechanism ratio).

Parameters

gearing MechanismGearing describing the drive train.

Returns: *this for chaining.

◆ WithMotorGearing() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMotorGearing ( double reductionRatio )

Set the mechanism gearing from a scalar reduction ratio.

Parameters

reductionRatio Reduction ratio (e.g. 3.0 for a 3:1 reduction, 0.5 for 1:2).

Returns: *this for chaining.

◆ WithMotorInverted()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithMotorInverted ( bool inverted )

Set the motor output direction.

Parameters

inverted true to invert the motor direction.

Returns: *this for chaining.

◆ WithOpenLoopMode()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithOpenLoopMode ( )

Switch to open-loop control mode.

Returns: *this for chaining.

◆ WithOpenLoopRampRate()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithOpenLoopRampRate ( wpi::units::second_t rampRate )

Set the open-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Returns: *this for chaining.

◆ WithResetPreviousConfig()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithResetPreviousConfig ( bool reset )

Set whether the motor controller resets its previous configuration and only applies what is given to this config (default true).

Parameters

reset Reset the previous configuration.

Returns: *this for chaining.

◆ WithSimClosedLoopController() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimClosedLoopController	(	const math::LQRConfig &	lqrConfig,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Override the closed-loop controller for the specified slot with an LQR in simulation.

Clears any simulation PID override for that slot.

Parameters

lqrConfig	LQRConfig to use in simulation.
slot	Gain slot to override (default SLOT_0).

Returns: *this for chaining.

◆ WithSimClosedLoopController() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimClosedLoopController	(	double	kP,
		double	kI,
		double	kD,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Override the PID gains for the specified slot in simulation.

Parameters

kP	Proportional gain override.
kI	Integral gain override.
kD	Derivative gain override.
slot	Gain slot to override (default SLOT_0).

Returns: *this for chaining.

◆ WithSimExponentialProfile()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimExponentialProfile ( wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::Constraints constraints )

Override the angular exponential motion profile used in simulation.

Parameters

constraints ExponentialProfile constraints for simulation.

Returns: *this for chaining.

◆ WithSimFeedforward() [1/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimFeedforward	(	const wpi::math::ArmFeedforward &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Override the arm feedforward for the specified slot in simulation.

Parameters

ff	ArmFeedforward to use in simulation.
slot	Gain slot to override (default SLOT_0).

Returns: *this for chaining.

◆ WithSimFeedforward() [2/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimFeedforward	(	const wpi::math::ElevatorFeedforward &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Override the elevator feedforward for the specified slot in simulation.

Parameters

ff	ElevatorFeedforward to use in simulation.
slot	Gain slot to override (default SLOT_0).

Returns: *this for chaining.

◆ WithSimFeedforward() [3/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimFeedforward	(	const wpi::math::SimpleMotorFeedforward< wpi::units::turns > &	ff,
		ClosedLoopControllerSlot	slot = `ClosedLoopControllerSlot::SLOT_0`
	)

Override the simple motor feedforward for the specified slot in simulation.

Parameters

ff	SimpleMotorFeedforward to use in simulation.
slot	Gain slot to override (default SLOT_0).

Returns: *this for chaining.

◆ WithSimMotor()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimMotor ( wpi::math::DCMotor motor )

Set the DC motor model used for simulation.

Parameters

motor wpi::math::DCMotor model describing the motor physics.

Returns: *this for chaining.

◆ WithSimStartingPosition() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimStartingPosition ( wpi::units::degree_t startingAngle )

Override the starting mechanism position used in simulation.

When running in simulation, GetStartingPosition() returns this value instead of the value set by WithStartingPosition().

Parameters

startingAngle Starting angle override for simulation.

Returns: *this for chaining.

◆ WithSimStartingPosition() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimStartingPosition ( wpi::units::meter_t startingDistance )

Override the starting mechanism position (linear) used in simulation.

WithMechanismCircumference must be set before calling this overload.

Parameters

startingDistance Starting linear distance override for simulation.

Returns: *this for chaining.

◆ WithSimTrapezoidProfile() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimTrapezoidProfile	(	wpi::units::meters_per_second_t	maxVelocity,
		wpi::units::meters_per_second_squared_t	maxAcceleration
	)

Override the linear trapezoidal motion profile used in simulation.

Parameters

maxVelocity	Maximum linear velocity for simulation.
maxAcceleration	Maximum linear acceleration for simulation.

Returns: *this for chaining.

◆ WithSimTrapezoidProfile() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimTrapezoidProfile	(	wpi::units::turns_per_second_t	maxVelocity,
		wpi::units::turns_per_second_squared_t	maxAcceleration
	)

Override the angular trapezoidal motion profile used in simulation.

Parameters

maxVelocity	Maximum angular velocity for simulation.
maxAcceleration	Maximum angular acceleration for simulation.

Returns: *this for chaining.

◆ WithSimulationPeriod()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSimulationPeriod ( wpi::units::second_t period )

Set the simulation period, the rate at which SimIterate() steps the simulated physics.

Independent of the closed-loop control period. Defaults to 20 ms.

Parameters

period Simulation loop period.

Returns: *this for chaining.

◆ WithStartingPosition() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithStartingPosition ( wpi::units::degree_t startingAngle )

Set the starting mechanism position (seeds the encoder and sim objects on init).

Throws std::invalid_argument if WithStartingPosition(meter_t) was already called.

Parameters

startingAngle Starting mechanism angle in degrees.

Returns: *this for chaining.

◆ WithStartingPosition() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithStartingPosition ( wpi::units::meter_t startingDistance )

Set the starting mechanism position from a linear distance.

WithMechanismCircumference must be called before this overload. The distance is converted to an angle internally. Throws std::invalid_argument if WithMechanismCircumference has not been set, or if WithStartingPosition(degree_t) was already called.

Parameters

startingDistance Starting linear distance (e.g. starting height for an elevator).

Returns: *this for chaining.

◆ WithStatorCurrentLimit()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithStatorCurrentLimit ( wpi::units::ampere_t limit )

Set the stator (output) current limit.

Parameters

limit Maximum stator current.

Returns: *this for chaining.

◆ WithSubsystem()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSubsystem ( wpi::cmd::SubsystemBase * subsystem )

Associate a command subsystem with this motor controller.

Throws SmartMotorControllerConfigurationException if a subsystem has already been set. Passing nullptr leaves the subsystem unset.

Parameters

subsystem Pointer to the owning subsystem (must outlive this config).

Returns: *this for chaining.

◆ WithSupplyCurrentLimit()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithSupplyCurrentLimit ( wpi::units::ampere_t limit )

Set the supply (input) current limit.

Parameters

limit Maximum supply current.

Returns: *this for chaining.

◆ WithTelemetry() [1/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithTelemetry	(	const std::string &	name,
		telemetry::SmartMotorControllerTelemetryConfig	telemetryConfig
	)

Enable NetworkTables telemetry with a field-level telemetry configuration.

The verbosity is set to HIGH so that live tuning is available. The telemetry configuration is used by the first motor controller that sets up telemetry with this config (copies made with Clone() share it), so give each motor controller its own.

Parameters

name	Table key for this motor's telemetry.
telemetryConfig	Telemetry configuration specifying the published fields.

Returns: *this for chaining.

◆ WithTelemetry() [2/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithTelemetry	(	const std::string &	name,
		TelemetryVerbosity	verbosity = `TelemetryVerbosity::HIGH`
	)

Enable NetworkTables telemetry for this motor controller.

Parameters

name	Table key for this motor's telemetry.
verbosity	Amount of data to publish (default HIGH).

Returns: *this for chaining.

◆ WithTelemetry() [3/3]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithTelemetry ( TelemetryVerbosity verbosity )

Enable NetworkTables telemetry for this motor controller under the name "motor".

Parameters

verbosity Amount of data to publish.

Returns: *this for chaining.

◆ WithTemperatureCutoff()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithTemperatureCutoff ( wpi::units::celsius_t temperature )

Set the temperature above which the motor controller disables output.

Parameters

temperature Cutoff temperature.

Returns: *this for chaining.

◆ WithTrapezoidProfile()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithTrapezoidProfile	(	wpi::units::turns_per_second_t	maxVelocity,
		wpi::units::turns_per_second_squared_t	maxAcceleration
	)

Enable a trapezoidal motion profile for angular position control.

Parameters

maxVelocity	Maximum angular velocity constraint.
maxAcceleration	Maximum angular acceleration constraint.

Returns: *this for chaining.

◆ WithUseExternalFeedbackEncoder()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithUseExternalFeedbackEncoder ( bool use )

Set whether the external encoder's position is used as the primary feedback source for the closed-loop controller (default: true when an encoder is attached).

Parameters

use	true to route external encoder to the PID feedback input.

Returns: *this for chaining.

◆ WithVelocityTrapezoidProfile() [1/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithVelocityTrapezoidProfile	(	wpi::units::meters_per_second_squared_t	maxAcceleration,
		meters_per_second_cubed_t	maxJerk
	)

Enable a trapezoidal motion profile for linear velocity control.

Also switches the closed-loop controller to linear (distance based) units.

Parameters

maxAcceleration	Maximum linear acceleration.
maxJerk	Maximum linear jerk.

Returns: *this for chaining.

◆ WithVelocityTrapezoidProfile() [2/2]

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithVelocityTrapezoidProfile	(	wpi::units::turns_per_second_squared_t	maxAcceleration,
		wpi::units::angular_jerk::turns_per_second_cubed_t	maxJerk
	)

Enable a trapezoidal motion profile for angular velocity control.

The velocity setpoint is profiled: its rate of change is limited by maxAcceleration and the rate of change of that by maxJerk.

Parameters

maxAcceleration	Maximum mechanism angular acceleration.
maxJerk	Maximum mechanism angular jerk.

Returns: *this for chaining.

◆ WithVendorConfig()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithVendorConfig ( std::any cfg )

Set a vendor-specific hardware configuration to use as the base for this motor controller.

The provided object is used as the starting point before SmartMotorControllerConfig options are applied on top. SmartMotorControllerConfig options always take precedence.

Accepted types per wrapper:

TalonFXWrapper: ctre::phoenix6::configs::TalonFXConfiguration
TalonFXSWrapper: ctre::phoenix6::configs::TalonFXSConfiguration
SparkWrapper (Max): rev::spark::SparkMaxConfig
SparkWrapper (Flex): rev::spark::SparkFlexConfig

Passing the wrong type for the wrapper will throw std::invalid_argument at construction time.

Parameters

cfg	Vendor configuration object (stored via std::any).

Returns: *this for chaining.

◆ WithVendorControlRequest()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithVendorControlRequest ( std::any req )

Set a vendor-specific control request to use for position or velocity control.

For TalonFX/TalonFXS: accepts any Phoenix 6 position or velocity ControlRequest (e.g. PositionDutyCycle, MotionMagicTorqueCurrentFOC, VelocityDutyCycle). The slot baked into the request object is honoured, overriding SetClosedLoopSlot.

Parameters

req	Control request object (copied into std::any storage).

Returns: *this for chaining.

◆ WithVoltageCompensation()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithVoltageCompensation ( wpi::units::volt_t voltage )

Set the nominal voltage the motor controller compensates its output for.

Parameters

voltage Ideal (compensated) voltage.

Returns: *this for chaining.

◆ WithZeroPower()

SmartMotorControllerConfig & yams::motorcontrollers::SmartMotorControllerConfig::WithZeroPower ( MotorMode mode )

Set the idle (neutral) mode of the motor.

Parameters

mode	COAST or BRAKE.

Returns: *this for chaining.

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

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

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ ClosedLoopControllerSlot

◆ ControlMode

◆ MotorMode

◆ TelemetryVerbosity

Member Function Documentation

◆ ClearFollowers()

◆ Clone()

◆ ConvertFromMechanism() [1/4]

◆ ConvertFromMechanism() [2/4]

◆ ConvertFromMechanism() [3/4]

◆ ConvertFromMechanism() [4/4]

◆ ConvertToCurrent()

◆ ConvertToMechanism() [1/4]

◆ ConvertToMechanism() [2/4]

◆ ConvertToMechanism() [3/4]

◆ ConvertToMechanism() [4/4]

◆ ConvertToVoltage()

◆ GetArmFeedforward()

◆ GetClosedLoopControllerMaximumVoltage()

◆ GetClosedLoopControlPeriod()

◆ GetClosedLoopRampRate()

◆ GetClosedLoopTolerance()

◆ GetContinuousWrapping()

◆ GetContinuousWrappingMin()

◆ GetContinuousWrappingSetpoint()

◆ GetElevatorFeedforward()

◆ GetEncoderInverted()

◆ GetExponentialProfile()

◆ GetExponentialProfileKA()

◆ GetExponentialProfileKV()

◆ GetExponentialProfileMaxInput()

◆ GetExternalEncoder()

◆ GetExternalEncoderConversionFactor()

◆ GetExternalEncoderDiscontinuityPoint()

◆ GetExternalEncoderGearing()

◆ GetExternalEncoderInverted()

◆ GetExternalEncoderZeroOffset()

◆ GetFeedbackSynchronizationThreshold()

◆ GetFollowers()

◆ GetKd()

◆ GetKi()

◆ GetKp()

◆ GetLinearClosedLoopControllerUse()

◆ GetLinearExponentialProfile()

◆ GetLinearTrapezoidProfile()

◆ GetLooselyCoupledFollowers()

◆ GetLQR()

◆ GetMeasurementLowerLimit()

◆ GetMeasurementUpperLimit()

◆ GetMechanismCircumference()

◆ GetMechanismLowerLimit()

◆ GetMechanismUpperLimit()

◆ GetMOI()

◆ GetMotorControllerMode()

◆ GetMotorGearing()

◆ GetMotorInverted()

◆ GetOpenLoopRampRate()

◆ GetResetPreviousConfig()

◆ GetSimMotor()

◆ GetSimpleFeedforward()

◆ GetSimulationPeriod()

◆ GetSlotGains()

◆ GetSmartControllerTelemetryConfig()

◆ GetStartingPosition()

◆ GetStatorCurrentLimit()

◆ GetStatorStallCurrentLimit()

◆ GetSubsystem()

◆ GetSupplyCurrentLimit()

◆ GetSupplyStallCurrentLimit()

◆ GetTelemetryName()

◆ GetTemperatureCutoff()

◆ GetTrapezoidProfile()

◆ GetTrapMaxAccelLinear()

◆ GetTrapMaxAccelTurns()

◆ GetTrapMaxVelocityLinear()