OuiOuiPlacerSubsystem Class Reference

#include <oui_oui_placer_subsystem.h>

Inheritance diagram for OuiOuiPlacerSubsystem:

Public Member Functions
	OuiOuiPlacerSubsystem (argos_lib::RobotInstance instance)
void	Periodic () override
void	SetOuiOuiSpeed (double percentOutput, bool overrideSoftLimits=false)
	Sets the speed of placer mechanism motor.
void	StopOuiOuiPlacer ()
	Stops the oui oui placer, and sets to motor's neutural mode.
units::degree_t	GetOuiOuiAngle ()
	Retrieves the current angle the oui oui placer.
void	EnablePlacerSoftLimits ()
	Turns on soft limits of placer.
void	DisablePlacerSoftLimits ()
	Turns off soft limits of placer.
bool	ForwardSoftLimitExceeded ()
bool	ReverseSoftLimitExceeded ()
bool	IsStalled ()

Private Attributes
argos_lib::RobotInstance	m_instance
bool	m_manualOverride
WPI_TalonFX	m_ouiOuiDrive
argos_lib::NTMotorPIDTuner	m_ouiOuiTuner
argos_lib::Debouncer	m_stallDebounce
bool	m_stalled
bool	m_softLimitsEnabled

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.

Constructor & Destructor Documentation

OuiOuiPlacerSubsystem()

OuiOuiPlacerSubsystem::OuiOuiPlacerSubsystem ( argos_lib::RobotInstance  instance )

explicit

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.

Member Function Documentation

DisablePlacerSoftLimits()

void OuiOuiPlacerSubsystem::DisablePlacerSoftLimits

(

)

Turns off soft limits of placer.

EnablePlacerSoftLimits()

void OuiOuiPlacerSubsystem::EnablePlacerSoftLimits

(

)

Turns on soft limits of placer.

ForwardSoftLimitExceeded()

bool OuiOuiPlacerSubsystem::ForwardSoftLimitExceeded

(

)

GetOuiOuiAngle()

units::degree_t OuiOuiPlacerSubsystem::GetOuiOuiAngle

(

)

Retrieves the current angle the oui oui placer.

Returns

Angle of oui oui placer system relative to robot frame, specifically it's revolution around robot Y

IsStalled()

bool OuiOuiPlacerSubsystem::IsStalled

(

)

Periodic()

void OuiOuiPlacerSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

ReverseSoftLimitExceeded()

bool OuiOuiPlacerSubsystem::ReverseSoftLimitExceeded

(

)

SetOuiOuiSpeed()

void OuiOuiPlacerSubsystem::SetOuiOuiSpeed	(	double	percentOutput,
		bool	overrideSoftLimits = false
	)

Sets the speed of placer mechanism motor.

Parameters

percentOutput	Fraction of max power to set motor to, bounded on [-1, 1]
overrideSoftLimits	True temporarily disables soft limits

StopOuiOuiPlacer()

void OuiOuiPlacerSubsystem::StopOuiOuiPlacer

(

)

Stops the oui oui placer, and sets to motor's neutural mode.

Member Data Documentation

m_instance

argos_lib::RobotInstance OuiOuiPlacerSubsystem::m_instance

private

m_manualOverride

bool OuiOuiPlacerSubsystem::m_manualOverride

private

m_ouiOuiDrive

WPI_TalonFX OuiOuiPlacerSubsystem::m_ouiOuiDrive

private

m_ouiOuiTuner

argos_lib::NTMotorPIDTuner OuiOuiPlacerSubsystem::m_ouiOuiTuner

private

m_softLimitsEnabled

bool OuiOuiPlacerSubsystem::m_softLimitsEnabled

private

m_stallDebounce

argos_lib::Debouncer OuiOuiPlacerSubsystem::m_stallDebounce

private

m_stalled

bool OuiOuiPlacerSubsystem::m_stalled

private

---

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

• src/main/include/subsystems/oui_oui_placer_subsystem.h
• src/main/cpp/subsystems/oui_oui_placer_subsystem.cpp