argos_lib::NTMotorPIDTuner Class Reference

Allows user to set PID parameters from network tables and update the motor configurations on updates. Also monitors status information from motors to aid tuning. More...

#include <nt_motor_pid_tuner.h>

Public Member Functions
	NTMotorPIDTuner (const std::string &tableName, std::initializer_list< ctre::phoenix::motorcontrol::can::BaseTalon * > motors, uint pidSlot, ClosedLoopSensorConversions sensorConversions={})
	Construct a new NTMotorPIDTuner object. More...
	~NTMotorPIDTuner ()
	Destroy the NTMotorPIDTuner object. More...

Private Member Functions
void	UpdateClosedLoopMonitoringThread ()
	Update statuses from all motors. More...

Private Attributes
argos_lib::NTSubscriber	m_updateSubscriber
	Subscriber to manage all updates from user inputs through network tables. More...
const std::vector< ctre::phoenix::motorcontrol::can::BaseTalon * >	m_pMotors
	Motors being configured and monitored. More...
const uint	m_pidSlot
	PID slot index actively used on motors. More...
std::shared_ptr< nt::NetworkTable >	m_pntTable
	Network table containing status and tuning keys. More...
ClosedLoopSensorConversions	m_sensorConversions
	Sensor conversion factors used to translate raw sensor readings. More...
std::mutex	m_threadMutex
	Lock to aid notifying thread of stop. More...
std::condition_variable	m_threadStopCv
	Used to notify thread to stop at shutdown. More...
std::thread	m_statusUpdateThread
	Thread monitoring motors. More...

Detailed Description

Allows user to set PID parameters from network tables and update the motor configurations on updates. Also monitors status information from motors to aid tuning.

Note

This runs a background thread to read statuses of motors without calling repeatedly

Constructor & Destructor Documentation

NTMotorPIDTuner()

NTMotorPIDTuner::NTMotorPIDTuner	(	const std::string &	tableName,
		std::initializer_list< ctre::phoenix::motorcontrol::can::BaseTalon * >	motors,
		uint	pidSlot,
		ClosedLoopSensorConversions	sensorConversions = {}
	)

Construct a new NTMotorPIDTuner object.

Parameters

tableName	Root table in which to make tuning and status keys
motors	Pointers to motors that should be monitored and configured. Can be one motor if only one motor uses the control loop parameters
pidSlot	PID slot to save tunes into
sensorConversions	Sensor conversion factors to make status values human readable

~NTMotorPIDTuner()

NTMotorPIDTuner::~NTMotorPIDTuner

(

)

Destroy the NTMotorPIDTuner object.

Member Function Documentation

UpdateClosedLoopMonitoringThread()

void NTMotorPIDTuner::UpdateClosedLoopMonitoringThread ( )

private

Update statuses from all motors.

Member Data Documentation

m_pidSlot

const uint argos_lib::NTMotorPIDTuner::m_pidSlot

private

PID slot index actively used on motors.

m_pMotors

const std::vector<ctre::phoenix::motorcontrol::can::BaseTalon*> argos_lib::NTMotorPIDTuner::m_pMotors

private

Motors being configured and monitored.

m_pntTable

std::shared_ptr<nt::NetworkTable> argos_lib::NTMotorPIDTuner::m_pntTable

private

Network table containing status and tuning keys.

m_sensorConversions

ClosedLoopSensorConversions argos_lib::NTMotorPIDTuner::m_sensorConversions

private

Sensor conversion factors used to translate raw sensor readings.

m_statusUpdateThread

std::thread argos_lib::NTMotorPIDTuner::m_statusUpdateThread

private

Thread monitoring motors.

m_threadMutex

std::mutex argos_lib::NTMotorPIDTuner::m_threadMutex

private

Lock to aid notifying thread of stop.

m_threadStopCv

std::condition_variable argos_lib::NTMotorPIDTuner::m_threadStopCv

private

Used to notify thread to stop at shutdown.

m_updateSubscriber

argos_lib::NTSubscriber argos_lib::NTMotorPIDTuner::m_updateSubscriber

private

Subscriber to manage all updates from user inputs through network tables.

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

• src/argos_lib/include/argos_lib/general/nt_motor_pid_tuner.h
• src/argos_lib/cpp/general/nt_motor_pid_tuner.cpp