458 lines
17 KiB
C++
458 lines
17 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/device/motor/abstractMotor.hpp"
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#include "okapi/api/util/logging.hpp"
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namespace okapi {
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class Motor : public AbstractMotor {
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public:
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/**
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* A V5 motor.
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*
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* @param iport The port number in the range ``[1, 21]``. A negative port number is shorthand for
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* reversing the motor.
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*/
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Motor(std::int8_t iport);
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/**
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* A V5 motor.
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*
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* @param iport The port number in the range [1, 21].
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* @param ireverse Whether the motor is reversed (this setting is not written to the motor, it is
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* maintained by okapi::Motor instead).
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* @param igearset The internal gearset to set in the motor.
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* @param iencoderUnits The encoder units to set in the motor.
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* @param logger The logger that initialization warnings will be logged to.
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*/
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Motor(std::uint8_t iport,
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bool ireverse,
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AbstractMotor::gearset igearset,
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AbstractMotor::encoderUnits iencoderUnits,
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const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
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/******************************************************************************/
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/** Motor movement functions **/
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/** **/
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/** These functions allow programmers to make motors move **/
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/******************************************************************************/
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/**
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* Sets the target absolute position for the motor to move to.
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*
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* This movement is relative to the position of the motor when initialized or
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* the position when it was most recently reset with setZeroPosition().
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*
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* @note This function simply sets the target for the motor, it does not block program execution
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* until the movement finishes.
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*
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* @param iposition The absolute position to move to in the motor's encoder units
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* @param ivelocity The maximum allowable velocity for the movement in RPM
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t moveAbsolute(double iposition, std::int32_t ivelocity) override;
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/**
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* Sets the relative target position for the motor to move to.
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*
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* This movement is relative to the current position of the motor. Providing 10.0 as the position
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* parameter would result in the motor moving clockwise 10 units, no matter what the current
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* position is.
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*
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* @note This function simply sets the target for the motor, it does not block program execution
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* until the movement finishes.
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*
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* @param iposition The relative position to move to in the motor's encoder units
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* @param ivelocity The maximum allowable velocity for the movement in RPM
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t moveRelative(double iposition, std::int32_t ivelocity) override;
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/**
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* Sets the velocity for the motor.
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*
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* This velocity corresponds to different actual speeds depending on the gearset
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* used for the motor. This results in a range of +-100 for pros::c::red,
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* +-200 for green, and +-600 for blue. The velocity
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* is held with PID to ensure consistent speed, as opposed to setting the motor's
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* voltage.
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*
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* @param ivelocity The new motor velocity from -+-100, +-200, or +-600 depending on the motor's
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* gearset
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t moveVelocity(std::int16_t ivelocity) override;
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/**
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* Sets the voltage for the motor from -12000 to 12000.
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*
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* @param ivoltage The new voltage value from -12000 to 12000.
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t moveVoltage(std::int16_t ivoltage) override;
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/**
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* Changes the output velocity for a profiled movement (moveAbsolute or moveRelative). This will
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* have no effect if the motor is not following a profiled movement.
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*
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* @param ivelocity The new motor velocity from -+-100, +-200, or +-600 depending on the motor's
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* gearset
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t modifyProfiledVelocity(std::int32_t ivelocity) override;
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/******************************************************************************/
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/** Motor telemetry functions **/
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/** **/
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/** These functions allow programmers to collect telemetry from motors **/
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/******************************************************************************/
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/**
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* Gets the target position set for the motor by the user.
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*
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* @return The target position in its encoder units or PROS_ERR_F if the operation failed,
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* setting errno.
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*/
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double getTargetPosition() override;
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/**
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* Gets the absolute position of the motor in its encoder units.
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*
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* @return The motor's absolute position in its encoder units or PROS_ERR_F if the operation
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* failed, setting errno.
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*/
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double getPosition() override;
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/**
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* Sets the "absolute" zero position of the motor to its current position.
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*
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t tarePosition() override;
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/**
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* Gets the velocity commanded to the motor by the user.
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*
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* @return The commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation
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* failed, setting errno.
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*/
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std::int32_t getTargetVelocity() override;
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/**
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* Gets the actual velocity of the motor.
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*
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* @return The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting
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* errno.
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*/
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double getActualVelocity() override;
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/**
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* Gets the current drawn by the motor in mA.
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*
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* @return The motor's current in mA or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t getCurrentDraw() override;
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/**
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* Gets the direction of movement for the motor.
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*
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* @return 1 for moving in the positive direction, -1 for moving in the negative direction, and
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* PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t getDirection() override;
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/**
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* Gets the efficiency of the motor in percent.
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*
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* An efficiency of 100% means that the motor is moving electrically while
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* drawing no electrical power, and an efficiency of 0% means that the motor
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* is drawing power but not moving.
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*
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* @return The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno.
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*/
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double getEfficiency() override;
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/**
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* Checks if the motor is drawing over its current limit.
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*
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* @return 1 if the motor's current limit is being exceeded and 0 if the current limit is not
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* exceeded, or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t isOverCurrent() override;
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/**
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* Checks if the motor's temperature is above its limit.
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*
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* @return 1 if the temperature limit is exceeded and 0 if the the temperature is below the limit,
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* or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t isOverTemp() override;
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/**
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* Checks if the motor is stopped.
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*
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* Although this function forwards data from the motor, the motor presently does not provide any
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* value. This function returns PROS_ERR with errno set to ENOSYS.
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*
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* @return 1 if the motor is not moving, 0 if the motor is moving, or PROS_ERR if the operation
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* failed, setting errno
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*/
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std::int32_t isStopped() override;
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/**
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* Checks if the motor is at its zero position.
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*
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* Although this function forwards data from the motor, the motor presently does not provide any
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* value. This function returns PROS_ERR with errno set to ENOSYS.
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*
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* @return 1 if the motor is at zero absolute position, 0 if the motor has moved from its absolute
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* zero, or PROS_ERR if the operation failed, setting errno
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*/
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std::int32_t getZeroPositionFlag() override;
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/**
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* Gets the faults experienced by the motor. Compare this bitfield to the bitmasks in
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* pros::motor_fault_e_t.
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*
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* @return A currently unknown bitfield containing the motor's faults. 0b00000100 = Current Limit
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* Hit
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*/
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uint32_t getFaults() override;
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/**
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* Gets the flags set by the motor's operation. Compare this bitfield to the bitmasks in
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* pros::motor_flag_e_t.
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*
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* @return A currently unknown bitfield containing the motor's flags. These seem to be unrelated
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* to the individual get_specific_flag functions
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*/
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uint32_t getFlags() override;
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/**
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* Gets the raw encoder count of the motor at a given timestamp.
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*
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* @param timestamp A pointer to a time in milliseconds for which the encoder count will be
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* returned. If NULL, the timestamp at which the encoder count was read will not be supplied
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*
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* @return The raw encoder count at the given timestamp or PROS_ERR if the operation failed.
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*/
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std::int32_t getRawPosition(std::uint32_t *timestamp) override;
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/**
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* Gets the power drawn by the motor in Watts.
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*
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* @return The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno.
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*/
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double getPower() override;
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/**
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* Gets the temperature of the motor in degrees Celsius.
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*
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* @return The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed,
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* setting errno.
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*/
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double getTemperature() override;
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/**
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* Gets the torque generated by the motor in Newton Metres (Nm).
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*
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* @return The motor's torque in NM or PROS_ERR_F if the operation failed, setting errno.
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*/
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double getTorque() override;
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/**
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* Gets the voltage delivered to the motor in millivolts.
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*
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* @return The motor's voltage in V or PROS_ERR_F if the operation failed, setting errno.
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*/
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std::int32_t getVoltage() override;
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/******************************************************************************/
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/** Motor configuration functions **/
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/** **/
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/** These functions allow programmers to configure the behavior of motors **/
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/******************************************************************************/
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/**
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* Sets one of AbstractMotor::brakeMode to the motor.
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*
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* @param imode The new motor brake mode to set for the motor
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setBrakeMode(AbstractMotor::brakeMode imode) override;
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/**
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* Gets the brake mode that was set for the motor.
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*
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* @return One of brakeMode, according to what was set for the motor, or brakeMode::invalid if the
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* operation failed, setting errno.
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*/
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brakeMode getBrakeMode() override;
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/**
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* Sets the current limit for the motor in mA.
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*
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* @param ilimit The new current limit in mA
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setCurrentLimit(std::int32_t ilimit) override;
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/**
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* Gets the current limit for the motor in mA. The default value is 2500 mA.
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*
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* @return The motor's current limit in mA or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t getCurrentLimit() override;
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/**
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* Sets one of AbstractMotor::encoderUnits for the motor encoder.
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*
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* @param iunits The new motor encoder units
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setEncoderUnits(AbstractMotor::encoderUnits iunits) override;
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/**
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* Gets the encoder units that were set for the motor.
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*
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* @return One of encoderUnits according to what is set for the motor or encoderUnits::invalid if
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* the operation failed.
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*/
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encoderUnits getEncoderUnits() override;
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/**
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* Sets one of AbstractMotor::gearset for the motor.
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*
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* @param igearset The new motor gearset
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setGearing(AbstractMotor::gearset igearset) override;
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/**
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* Gets the gearset that was set for the motor.
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*
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* @return One of gearset according to what is set for the motor, or gearset::invalid if the
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* operation failed.
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*/
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gearset getGearing() override;
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/**
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* Sets the reverse flag for the motor. This will invert its movements and the values returned for
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* its position.
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*
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* @param ireverse True reverses the motor, false is default
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setReversed(bool ireverse) override;
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/**
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* Sets the voltage limit for the motor in Volts.
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*
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* @param ilimit The new voltage limit in Volts
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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std::int32_t setVoltageLimit(std::int32_t ilimit) override;
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/**
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* Sets new PID constants.
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*
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* @param ikF the feed-forward constant
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* @param ikP the proportional constant
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* @param ikI the integral constant
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* @param ikD the derivative constant
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* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
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*/
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virtual std::int32_t setPosPID(double ikF, double ikP, double ikI, double ikD);
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|
||
|
|
/**
|
||
|
|
* Sets new PID constants.
|
||
|
|
*
|
||
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|
* @param ikF the feed-forward constant
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||
|
|
* @param ikP the proportional constant
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||
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|
* @param ikI the integral constant
|
||
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|
* @param ikD the derivative constant
|
||
|
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* @param ifilter a constant used for filtering the profile acceleration
|
||
|
|
* @param ilimit the integral limit
|
||
|
|
* @param ithreshold the threshold for determining if a position movement has reached its goal
|
||
|
|
* @param iloopSpeed the rate at which the PID computation is run (in ms)
|
||
|
|
* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
|
||
|
|
*/
|
||
|
|
virtual std::int32_t setPosPIDFull(double ikF,
|
||
|
|
double ikP,
|
||
|
|
double ikI,
|
||
|
|
double ikD,
|
||
|
|
double ifilter,
|
||
|
|
double ilimit,
|
||
|
|
double ithreshold,
|
||
|
|
double iloopSpeed);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets new PID constants.
|
||
|
|
*
|
||
|
|
* @param ikF the feed-forward constant
|
||
|
|
* @param ikP the proportional constant
|
||
|
|
* @param ikI the integral constant
|
||
|
|
* @param ikD the derivative constant
|
||
|
|
* @return `1` if the operation was successful or `PROS_ERR` if the operation failed, setting
|
||
|
|
* errno.
|
||
|
|
*/
|
||
|
|
virtual std::int32_t setVelPID(double ikF, double ikP, double ikI, double ikD);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets new PID constants.
|
||
|
|
*
|
||
|
|
* @param ikF the feed-forward constant
|
||
|
|
* @param ikP the proportional constant
|
||
|
|
* @param ikI the integral constant
|
||
|
|
* @param ikD the derivative constant
|
||
|
|
* @param ifilter a constant used for filtering the profile acceleration
|
||
|
|
* @param ilimit the integral limit
|
||
|
|
* @param ithreshold the threshold for determining if a position movement has reached its goal
|
||
|
|
* @param iloopSpeed the rate at which the PID computation is run (in ms)
|
||
|
|
* @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
|
||
|
|
*/
|
||
|
|
virtual std::int32_t setVelPIDFull(double ikF,
|
||
|
|
double ikP,
|
||
|
|
double ikI,
|
||
|
|
double ikD,
|
||
|
|
double ifilter,
|
||
|
|
double ilimit,
|
||
|
|
double ithreshold,
|
||
|
|
double iloopSpeed);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the encoder associated with this motor.
|
||
|
|
*
|
||
|
|
* @return The encoder for this motor.
|
||
|
|
*/
|
||
|
|
std::shared_ptr<ContinuousRotarySensor> getEncoder() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Writes the value of the controller output. This method might be automatically called in another
|
||
|
|
* thread by the controller. The range of input values is expected to be `[-1, 1]`.
|
||
|
|
*
|
||
|
|
* @param ivalue The controller's output in the range `[-1, 1]`.
|
||
|
|
*/
|
||
|
|
void controllerSet(double ivalue) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return The port number.
|
||
|
|
*/
|
||
|
|
std::uint8_t getPort() const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return Whether this motor is reversed.
|
||
|
|
*/
|
||
|
|
bool isReversed() const;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
std::uint8_t port;
|
||
|
|
std::int8_t reversed{1};
|
||
|
|
};
|
||
|
|
} // namespace okapi
|