ctre::phoenixpro::sim::CANcoderSimState Class Reference

Class to control the state of a simulated hardware::CANcoder. More...

#include <ctre/phoenixpro/sim/CANcoderSimState.hpp>

Public Member Functions
	CANcoderSimState (hardware::core::CoreCANcoder const &device)
	Creates an object to control the state of the given hardware::CANcoder. More...
	CANcoderSimState (hardware::core::CoreCANcoder const &device, ChassisReference orientation)
	Creates an object to control the state of the given hardware::CANcoder. More...
	CANcoderSimState (CANcoderSimState const &)=delete
	CANcoderSimState (CANcoderSimState &&)=default
CANcoderSimState &	operator= (CANcoderSimState const &)=delete
CANcoderSimState &	operator= (CANcoderSimState &&)=default
ctre::phoenix::StatusCode	SetSupplyVoltage (units::voltage::volt_t volts)
	Sets the simulated supply voltage of the CANcoder. More...
ctre::phoenix::StatusCode	SetRawPosition (units::angle::turn_t rotations)
	Sets the simulated raw position of the CANcoder. More...
ctre::phoenix::StatusCode	AddPosition (units::angle::turn_t dRotations)
	Adds to the simulated position of the CANcoder. More...
ctre::phoenix::StatusCode	SetVelocity (units::angular_velocity::turns_per_second_t rps)
	Sets the simulated velocity of the CANcoder. More...

Public Attributes
ChassisReference	Orientation
	The orientation of the CANcoder relative to the robot chassis. More...

Detailed Description

Class to control the state of a simulated hardware::CANcoder.

Constructor & Destructor Documentation

CANcoderSimState() [1/4]

ctre::phoenixpro::sim::CANcoderSimState::CANcoderSimState ( hardware::core::CoreCANcoder const &  device )

inline

Creates an object to control the state of the given hardware::CANcoder.

This constructor defaults to a counter-clockwise positive orientation relative to the robot chassis.

Parameters

device

Device to which this simulation state is attached

CANcoderSimState() [2/4]

ctre::phoenixpro::sim::CANcoderSimState::CANcoderSimState	(	hardware::core::CoreCANcoder const &	device,
		ChassisReference	orientation
	)

Creates an object to control the state of the given hardware::CANcoder.

Parameters

device	Device to which this simulation state is attached
orientation	Orientation of the device relative to the robot chassis

CANcoderSimState() [3/4]

ctre::phoenixpro::sim::CANcoderSimState::CANcoderSimState ( CANcoderSimState const &  )

delete

CANcoderSimState() [4/4]

ctre::phoenixpro::sim::CANcoderSimState::CANcoderSimState ( CANcoderSimState &&  )

default

Member Function Documentation

AddPosition()

ctre::phoenix::StatusCode ctre::phoenixpro::sim::CANcoderSimState::AddPosition

(

units::angle::turn_t

dRotations

)

Adds to the simulated position of the CANcoder.

Parameters

dRotations

The change in position in rotations

Returns

Status code

operator=() [1/2]

CANcoderSimState & ctre::phoenixpro::sim::CANcoderSimState::operator= ( CANcoderSimState &&  )

default

operator=() [2/2]

CANcoderSimState & ctre::phoenixpro::sim::CANcoderSimState::operator= ( CANcoderSimState const &  )

delete

SetRawPosition()

ctre::phoenix::StatusCode ctre::phoenixpro::sim::CANcoderSimState::SetRawPosition

(

units::angle::turn_t

rotations

)

Sets the simulated raw position of the CANcoder.

Inputs to this function over time should be continuous, as user calls of hardware::CANcoder::SetPosition will be accounted for in the callee.

The CANcoder integrates this to calculate the true reported position.

When using the WPI Sim GUI, you will notice a readonly position and settable rawPositionInput. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to rawPositionInput will be integrated into the emulated position. This way a simulator can modify the position without overriding hardware API calls for home-ing the sensor.

Parameters

rotations

The raw position in rotations

Returns

Status code

SetSupplyVoltage()

ctre::phoenix::StatusCode ctre::phoenixpro::sim::CANcoderSimState::SetSupplyVoltage

(

units::voltage::volt_t

volts

)

Sets the simulated supply voltage of the CANcoder.

The minimum allowed supply voltage is 4 V - values below this will be promoted to 4 V.

Parameters

volts

The supply voltage in Volts

Returns

Status code

SetVelocity()

ctre::phoenix::StatusCode ctre::phoenixpro::sim::CANcoderSimState::SetVelocity

(

units::angular_velocity::turns_per_second_t

rps

)

Sets the simulated velocity of the CANcoder.

Parameters

rps	The new velocity in rotations per second

Returns

Status code

Member Data Documentation

Orientation

ChassisReference ctre::phoenixpro::sim::CANcoderSimState::Orientation

The orientation of the CANcoder relative to the robot chassis.

This value should not be changed based on the CANcoder invert. Rather, this value should be changed when the mechanical linkage between the CANcoder and the robot changes.

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

• ctre/phoenixpro/sim/CANcoderSimState.hpp