Namespaces
namespace	cancoder_config

namespace	falcon_config

namespace	status_frame_config

namespace	swerve

namespace	talonsrx_config

Classes
struct	CANAddress

struct	ClosedLoopSensorConversions
	Conversion factors to aid displaying sensor values as meaningful numbers. More...

class	Debouncer

struct	DebounceSettings

class	EdgeDetector

class	HysteresisFilter
	A simple hysteresis filter for giving a bool output for a threshold. More...

struct	InterpMapPoint
	Point that helps generate an interpolation map. More...

class	InterpolationMap
	Performs linear interpolation of a value based on a set of input->output mapping points. More...

class	NTMotorPIDTuner
	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...

class	NTSubscriber
	Subscribes to Network Tables entry updates and calls a specified callback to use the new value. More...

class	SwapControllersCommand
	Swaps rolls of two controllers. Useful if one controller breaks during a match. More...

class	SwappableControllersSubsystem
	Allows two controllers to swap between "Driver" and "Operator" control schemes on the fly by swapping the m_driverController and m_operatorController objects. More...

struct	VibrationStatus
	Vibration percentages that can be sent to controller for user feedback. More...

class	XboxController

Typedefs
using	VibrationModel = std::function< VibrationStatus()>

Enumerations
enum struct	RobotInstance { Competition , Practice }
	Differentiates between practice robot and competition robot. More...

Functions
RobotInstance	GetRobotInstance ()
	Detect robot instance. More...

VibrationModel	VibrationOff ()
	Turn off vibration. More...

VibrationModel	VibrationConstant (double intensity)
	Set vibration to a constant value where left and right are the same intensity. More...

VibrationModel	VibrationConstant (double intensityLeft, double intensityRight)
	Set vibration to a constant value where left and right have discrete intensities. More...

VibrationModel	VibrationSyncPulse (units::millisecond_t pulsePeriod, double intensityOn, double intensityOff=0.0)
	Toggle vibration between intensityOn and intensityOff levels. Left and right have the same vibration intensity. More...

VibrationModel	VibrationSyncWave (units::millisecond_t pulsePeriod, double intensityOn, double intensityOff=0.0)
	Smoothly transition vibration between intensityOn and intensityOff levels. Left and right have the same vibration intensity. More...

VibrationModel	VibrationAlternatePulse (units::millisecond_t pulsePeriod, double intensityOn, double intensityOff=0.0)
	Toggle vibration between intensityOn and intensityOff levels. Left output is in intensityOn phase while right output is in intensityOff phase and vice-versa. More...

VibrationModel	VibrationAlternateWave (units::millisecond_t pulsePeriod, double intensityOn, double intensityOff=0.0)
	Smoothly transition vibration between intensityOn and intensityOff levels. Left output is in intensityOn phase while right output is in intensityOff phase and vice-versa. More...

VibrationModel	TemporaryVibrationPattern (VibrationModel temporaryModel, units::millisecond_t temporaryModelDuration, VibrationModel lastingModel=VibrationOff())
	Run a vibration model for a specified duration, then run another model in perpetuity thereafter. More...

template<typename T >
static constexpr bool	InThreshold (const T value, const T target, const T threshold)
	Detect if a value is within a threshold of a target value. More...

template<class T , class V >
constexpr bool	operator< (const InterpMapPoint< T, V > &a, const T &b)

template<class T , class V >
constexpr bool	operator< (const T &a, const InterpMapPoint< T, V > &b)

template<class Callable >
constexpr double	GetSensorConversionFactor (Callable toPhysicalUnitsFunction)
	Generates a double value to convert raw sensor values to physical units represented as a double. More...

Detailed Description

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Typedef Documentation

◆ VibrationModel

using argos_lib::VibrationModel = typedef std::function<VibrationStatus()>

Enumeration Type Documentation

◆ RobotInstance

enum struct argos_lib::RobotInstance

strong

Differentiates between practice robot and competition robot.

Enumerator
Competition	Competition robot.
Practice	Practice robot.

Function Documentation

◆ GetRobotInstance()

argos_lib::RobotInstance argos_lib::GetRobotInstance ( )

Detect robot instance.

Returns: RobotInstance

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

◆ GetSensorConversionFactor()

template<class Callable >

constexpr double argos_lib::GetSensorConversionFactor ( Callable toPhysicalUnitsFunction )

constexpr

Generates a double value to convert raw sensor values to physical units represented as a double.

Template Parameters

Callable Function that generates a units value from a double

Parameters

toPhysicalUnitsFunction Conversion function

Returns: double Physical unit value stripped of unit so it's just a double

◆ InThreshold()

template<typename T >

static constexpr bool argos_lib::InThreshold	(	const T	value,
		const T	target,
		const T	threshold
	)

staticconstexpr

Detect if a value is within a threshold of a target value.

Template Parameters

T	Type that implements operator+(), operator-(), operator<=() and operator>=()

Parameters

value	Value to check
target	Center of range
threshold	Allowable error from target

Returns: true when value is within threshold of target, false otherwise

◆ operator<() [1/2]

template<class T , class V >

constexpr bool argos_lib::operator<	(	const InterpMapPoint< T, V > &	a,
		const T &	b
	)

constexpr

◆ operator<() [2/2]

template<class T , class V >

constexpr bool argos_lib::operator<	(	const T &	a,
		const InterpMapPoint< T, V > &	b
	)

constexpr

◆ TemporaryVibrationPattern()

VibrationModel argos_lib::TemporaryVibrationPattern	(	argos_lib::VibrationModel	temporaryModel,
		units::millisecond_t	temporaryModelDuration,
		argos_lib::VibrationModel	lastingModel = `VibrationOff()`
	)

Run a vibration model for a specified duration, then run another model in perpetuity thereafter.

Parameters

temporaryModel	Model to run for the specified duration
temporaryModelDuration	Amount of time to run temporaryModel
lastingModel	Model to run forever after the specified duration

Returns: VibrationModel

◆ VibrationAlternatePulse()

VibrationModel argos_lib::VibrationAlternatePulse	(	units::millisecond_t	pulsePeriod,
		double	intensityOn,
		double	intensityOff = `0.0`
	)

Toggle vibration between intensityOn and intensityOff levels. Left output is in intensityOn phase while right output is in intensityOff phase and vice-versa.

Parameters

pulsePeriod	Time to complete one intensityOn->intensityOff cycle
intensityOn	Vibration percent output when in intensityOn portion of cycle [0,1.0]
intensityOff	Vibration percent output when in intensityOff portion of cycle [0,1.0]

Returns: VibrationModel

◆ VibrationAlternateWave()

VibrationModel argos_lib::VibrationAlternateWave	(	units::millisecond_t	pulsePeriod,
		double	intensityOn,
		double	intensityOff = `0.0`
	)

Smoothly transition vibration between intensityOn and intensityOff levels. Left output is in intensityOn phase while right output is in intensityOff phase and vice-versa.

Parameters

pulsePeriod	Time to complete one intensityOn->intensityOff cycle
intensityOn	Vibration percent output when at peak of intensityOn portion of cycle [0,1.0]
intensityOff	Vibration percent output when in trough of intensityOff portion of cycle [0,1.0]

Returns: VibrationModel

◆ VibrationConstant() [1/2]

VibrationModel argos_lib::VibrationConstant ( double intensity )

Set vibration to a constant value where left and right are the same intensity.

Parameters

intensity Percent vibration output [0,1.0]

Returns: VibrationModel

◆ VibrationConstant() [2/2]

VibrationModel argos_lib::VibrationConstant	(	double	intensityLeft,
		double	intensityRight
	)

Set vibration to a constant value where left and right have discrete intensities.

Parameters

intensityLeft	Left vibration percent output [0,1.0]
intensityRight	Right vibration percent output [0,1.0]

Returns: VibrationModel

◆ VibrationOff()

VibrationModel argos_lib::VibrationOff ( )

Turn off vibration.

Returns: VibrationModel

◆ VibrationSyncPulse()

VibrationModel argos_lib::VibrationSyncPulse	(	units::millisecond_t	pulsePeriod,
		double	intensityOn,
		double	intensityOff = `0.0`
	)

Toggle vibration between intensityOn and intensityOff levels. Left and right have the same vibration intensity.

Parameters

pulsePeriod	Time to complete one intensityOn->intensityOff cycle
intensityOn	Vibration percent output when in intensityOn portion of cycle [0,1.0]
intensityOff	Vibration percent output when in intensityOff portion of cycle [0,1.0]

Returns: VibrationModel

◆ VibrationSyncWave()

VibrationModel argos_lib::VibrationSyncWave	(	units::millisecond_t	pulsePeriod,
		double	intensityOn,
		double	intensityOff = `0.0`
	)

Smoothly transition vibration between intensityOn and intensityOff levels. Left and right have the same vibration intensity.

Parameters

pulsePeriod	Time to complete one intensityOn->intensityOff cycle
intensityOn	Vibration percent output when at peak of intensityOn portion of cycle [0,1.0]
intensityOff	Vibration percent output when in trough of intensityOff portion of cycle [0,1.0]

Returns: VibrationModel

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ VibrationModel

Enumeration Type Documentation

◆ RobotInstance

Function Documentation

◆ GetRobotInstance()

◆ GetSensorConversionFactor()

◆ InThreshold()

◆ operator<() [1/2]

◆ operator<() [2/2]

◆ TemporaryVibrationPattern()

◆ VibrationAlternatePulse()

◆ VibrationAlternateWave()

◆ VibrationConstant() [1/2]

◆ VibrationConstant() [2/2]

◆ VibrationOff()

◆ VibrationSyncPulse()

◆ VibrationSyncWave()