401 lines
15 KiB
C++
401 lines
15 KiB
C++
/*
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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 "okapi/api/device/motor/abstractMotor.hpp"
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#include "okapi/api/util/logging.hpp"
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#include "okapi/impl/device/motor/motor.hpp"
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#include <initializer_list>
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#include <vector>
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namespace okapi {
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class MotorGroup : public AbstractMotor {
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public:
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/**
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* A group of V5 motors which act as one motor (i.e. they are mechanically linked). A MotorGroup
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* requires at least one motor. If no motors are supplied, a `std::invalid_argument` exception is
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* thrown.
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*
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* @param imotors The motors in this group.
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* @param ilogger The logger this instance will log initialization warnings to.
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*/
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MotorGroup(const std::initializer_list<Motor> &imotors,
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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/**
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* A group of V5 motors which act as one motor (i.e. they are mechanically linked). A MotorGroup
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* requires at least one motor. If no motors are supplied, a `std::invalid_argument` exception is
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* thrown.
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*
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* @param imotors The motors in this group.
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* @param ilogger The logger this instance will log initialization warnings to.
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*/
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MotorGroup(const std::initializer_list<std::shared_ptr<AbstractMotor>> &imotors,
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const std::shared_ptr<Logger> &ilogger = 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
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* motor's 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
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* operation 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
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* 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
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* absolute 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
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* Limit 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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* @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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* This function uses the following values of errno when an error state is reached:
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* EACCES - Another resource is currently trying to access the port.
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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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* This function uses the following values of errno when an error state is reached:
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* EACCES - Another resource is currently trying to access the port.
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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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* Writes the value of the controller output. This method might be automatically called in another
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* thread by the controller. The range of input values is expected to be `[-1, 1]`.
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*
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* @param ivalue the controller's output in the range `[-1, 1]`
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*/
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void controllerSet(double ivalue) override;
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/**
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* Gets the number of motors in the motor group.
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*
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* @return size_t
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*/
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size_t getSize();
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/**
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* Get the encoder associated with the first motor in this group.
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*
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* @return The encoder for the motor at index `0`.
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*/
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std::shared_ptr<ContinuousRotarySensor> getEncoder() override;
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/**
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* Get the encoder associated with this motor.
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*
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* @param index The index in `motors` to get the encoder from.
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* @return The encoder for the motor at `index`.
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*/
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virtual std::shared_ptr<ContinuousRotarySensor> getEncoder(std::size_t index);
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protected:
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std::vector<std::shared_ptr<AbstractMotor>> motors;
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};
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} // namespace okapi
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