Namespaces
namespace	angle

namespace	cancoder_config

namespace	colors

namespace	falcon_config

namespace	gamma_corrected_colors

namespace	led

namespace	status_frame_config

namespace	swerve

namespace	talonsrx_config

namespace	testing

namespace	triggers

Classes
struct	ArgosColor

class	ArgosLogger
	Log to the console in a clean, repeatable manner. More...

struct	CANAddress

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

class	Debouncer

struct	DebounceSettings

class	EdgeDetector

class	FSHomingStorage
	Saves and loads home positions from filesystem. More...

class	GenericDebouncer

class	HomingStorageInterface
	Interface capable of saving and loading home positions from persistent storage. More...

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...

struct	LEDState
	Color and animation status for an individual LED. More...

class	LEDSubsystem

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...

class	SwerveFSHomingStorage

class	SwerveHomeStorageInterface
	Interface capable of saving and loading module home positions from persistent storage. 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...

enum	LogLevel { INFO , ERR }
	Represents a log level of either information, or error. More...

Functions
RobotInstance	GetRobotInstance ()
	Detect robot instance.

static int	GetCANAddr (const argos_lib::CANAddress &compAddress, const argos_lib::CANAddress &practiceAddress, argos_lib::RobotInstance instance)
	Gets integer address from CANAddress objects based on robot instance.

static std::string_view	GetCANBus (const argos_lib::CANAddress &compAddress, const argos_lib::CANAddress &practiceAddress, argos_lib::RobotInstance instance)
	Gets std::string_view bus name from CANAddress objects based on robot instance.

VibrationModel	VibrationOff ()
	Turn off vibration.

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

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

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.

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.

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.

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.

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.

constexpr ArgosColor	GammaCorrect (ArgosColor original)

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.

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.

Variables
constexpr std::array< uint8_t, 256 >	gamma8

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

◆ LogLevel

enum argos_lib::LogLevel

Represents a log level of either information, or error.

Enumerator
INFO
ERR

◆ RobotInstance

enum struct argos_lib::RobotInstance

strong

Differentiates between practice robot and competition robot.

Enumerator
Competition	Competition robot.
Practice	Practice robot.

Function Documentation

◆ GammaCorrect()

constexpr ArgosColor argos_lib::GammaCorrect ( ArgosColor original )

constexpr

◆ GetCANAddr()

static int argos_lib::GetCANAddr	(	const argos_lib::CANAddress &	compAddress,
		const argos_lib::CANAddress &	practiceAddress,
		argos_lib::RobotInstance	instance
	)

inlinestatic

Gets integer address from CANAddress objects based on robot instance.

Parameters

compAddress	The competiton robot CANAddress object
practiceAddress	The practice robot CANAddress object
instance	Current instance of robot

Returns: returns compAddress.addr if instance is competition, practiceAddress.addr if instance is practice

◆ GetCANBus()

static std::string_view argos_lib::GetCANBus	(	const argos_lib::CANAddress &	compAddress,
		const argos_lib::CANAddress &	practiceAddress,
		argos_lib::RobotInstance	instance
	)

inlinestatic

Gets std::string_view bus name from CANAddress objects based on robot instance.

Parameters

compAddress	The competiton robot CANAddress object
practiceAddress	The practice robot CANAddress object
instance	Current instance of robot

Returns: returns compAddress.busName if instance is competition, practiceAddress.busName if instance is practice

◆ 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

Variable Documentation

◆ gamma8

constexpr std::array<uint8_t, 256> argos_lib::gamma8

constexpr

Initial value:

= {
      0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   1,   1,   1,   1,
      1,   1,   1,   1,   1,   1,   1,   1,   1,   2,   2,   2,   2,   2,   2,   2,
      2,   3,   3,   3,   3,   3,   3,   3,   4,   4,   4,   4,   4,   5,   5,   5,
      5,   6,   6,   6,   6,   7,   7,   7,   7,   8,   8,   8,   9,   9,   9,   10,
      10,  10,  11,  11,  11,  12,  12,  13,  13,  13,  14,  14,  15,  15,  16,  16,
      17,  17,  18,  18,  19,  19,  20,  20,  21,  21,  22,  22,  23,  24,  24,  25,
      25,  26,  27,  27,  28,  29,  29,  30,  31,  32,  32,  33,  34,  35,  35,  36,
      37,  38,  39,  39,  40,  41,  42,  43,  44,  45,  46,  47,  48,  49,  50,  50,
      51,  52,  54,  55,  56,  57,  58,  59,  60,  61,  62,  63,  64,  66,  67,  68,
      69,  70,  72,  73,  74,  75,  77,  78,  79,  81,  82,  83,  85,  86,  87,  89,
      90,  92,  93,  95,  96,  98,  99,  101, 102, 104, 105, 107, 109, 110, 112, 114,
      115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
      144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
      177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
      215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255}

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ VibrationModel

Enumeration Type Documentation

◆ LogLevel

◆ RobotInstance

Function Documentation

◆ GammaCorrect()

◆ GetCANAddr()

◆ GetCANBus()

◆ GetRobotInstance()

◆ GetSensorConversionFactor()

◆ InThreshold()

◆ operator<() [1/2]

◆ operator<() [2/2]

◆ TemporaryVibrationPattern()

◆ VibrationAlternatePulse()

◆ VibrationAlternateWave()

◆ VibrationConstant() [1/2]

◆ VibrationConstant() [2/2]

◆ VibrationOff()

◆ VibrationSyncPulse()

◆ VibrationSyncWave()

Variable Documentation

◆ gamma8