Package xbot.common.controls.actuators.mock_adapters

Class MockCANMotorController

java.lang.Object

xbot.common.controls.actuators.XCANMotorController

xbot.common.controls.actuators.mock_adapters.MockCANMotorController

All Implemented Interfaces:

DataFrameRefreshable

public class MockCANMotorController
extends XCANMotorController

Mock XCANMotorController for simulation. - Power and voltage is grouped. - The user is responsible for updating its position and velocity.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	MockCANMotorController.ControlMode
static class	MockCANMotorController.MockCANMotorControllerFactory

Nested classes/interfaces inherited from class xbot.common.controls.actuators.XCANMotorController

XCANMotorController.MotorPidMode, XCANMotorController.XCANMotorControllerFactory

Field Summary

Fields

Modifier and Type	Field	Description
double	d
double	f
double	g
double	i
double	maxPower
double	minPower
double	p
double	s

Fields inherited from class xbot.common.controls.actuators.XCANMotorController

akitName, busId, deviceId, firstPeriodicCall, inputs, kDProps, kGravityFFProps, kIProps, kMaxOutputProps, kMinOutputProps, kPProps, kStaticFFProps, kVelocityFFProps, MAX_VOLTAGE, pidProperties, propertyFactory, softwareForwardLimit, softwareReverseLimit, usesPropertySystem

Constructor Summary

Constructors

Constructor	Description
MockCANMotorController(CANMotorControllerInfo info, String owningSystemPrefix, PropertyFactory propertyFactory, DevicePolice police, String pidPropertyPrefix, XCANMotorControllerPIDProperties defaultPIDProperties, PowerDistributionProperties pdProperties)

Method Summary

Modifier and Type	Method	Description
MockCANMotorController.ControlMode	getControlMode()
DeviceHealth	getHealth()
double	getPower()
Angle	getRawPosition_internal()
Angle	getRawTargetPosition()
AngularVelocity	getRawTargetVelocity()
AngularVelocity	getRawVelocity_internal()
Angle	getTargetPosition()
boolean	isInverted()
void	setClosedLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
void	setConfiguration(CANMotorControllerOutputConfig outputConfig)
void	setOpenLoopRampRates(Time dutyCyclePeriod, Time voltagePeriod)
void	setPidDirectly(XCANMotorControllerPIDProperties pidProperties, int slot)	Set the PID values for the motor controller directly, without using the property system.
void	setPositionAndVelocityUpdateFrequency(Frequency frequency)
void	setPower(double power)
void	setPowerInternal(double power)
void	setPowerRange(double minPower, double maxPower)
void	setRawPosition(Angle position)	Override the position of the motor controller.
void	setRawPositionTarget(Angle rawPosition, XCANMotorController.MotorPidMode mode, int slot)	Set the target position for the motor controller.
void	setRawVelocity(AngularVelocity rawVelocity)
void	setRawVelocityTarget(AngularVelocity rawVelocity, XCANMotorController.MotorPidMode mode, int slot)	Set the target velocity for the motor controller.
void	setRawVelocityTargetWithFeedForward(AngularVelocity rawVelocity, XCANMotorController.MotorPidMode mode, double feedForward, int slot)	Set the target velocity for the motor controller.
void	setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)
void	setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)
void	setTrapezoidalProfileMaxVelocity(AngularVelocity velocity)
void	setVelocity(AngularVelocity velocity)
void	setVoltage(Voltage voltage)
void	setVoltageRange(Voltage minVoltage, Voltage maxVoltage)
protected void	updateInputs(XCANMotorControllerInputs inputs)

Methods inherited from class xbot.common.controls.actuators.XCANMotorController

convertDistanceToRawAngle, convertRawAngleToDistance, convertRawAngleToScaledAngle, convertRawVelocityToScaledVelocity, convertScaledAngleToRawAngle, convertScaledVelocityToRawVelocity, getCurrent, getPosition, getPositionAsDistance, getRawPosition, getRawVelocity, getVelocity, getVoltage, isValidPowerRequest, isValidVoltageRequest, periodic, refreshDataFrame, setAngleScaleFactor, setDistancePerMotorRotationsScaleFactor, setPidDirectly, setPidDirectly, setPidDirectly, setPosition, setPositionTarget, setPositionTarget, setPositionTarget, setRawPositionTarget, setRawPositionTarget, setRawVelocityTarget, setRawVelocityTarget, setRawVelocityTargetWithFeedForward, setRawVelocityTargetWithFeedForward, setSoftwareForwardLimit, setSoftwareReverseLimit, setVelocityTarget, setVelocityTarget, setVelocityTarget, setVelocityTargetWithFeedForward, setVelocityTargetWithFeedForward, setVelocityTargetWithFeedForward

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

p

public double p

i

public double i

d

public double d

s

public double s

f

public double f

g

public double g

maxPower

public double maxPower

minPower

public double minPower

Constructor Details

MockCANMotorController

@AssistedInject
public MockCANMotorController(@Assisted("info")
 CANMotorControllerInfo info,
 @Assisted("owningSystemPrefix")
 String owningSystemPrefix,
 PropertyFactory propertyFactory,
 DevicePolice police,
 @Assisted("pidPropertyPrefix")
 String pidPropertyPrefix,
 @Assisted("defaultPIDProperties")
 XCANMotorControllerPIDProperties defaultPIDProperties,
 PowerDistributionProperties pdProperties)

Method Details

setConfiguration

public void setConfiguration(CANMotorControllerOutputConfig outputConfig)

Specified by:

setConfiguration in class XCANMotorController

setOpenLoopRampRates

public void setOpenLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

Specified by:

setOpenLoopRampRates in class XCANMotorController

setClosedLoopRampRates

public void setClosedLoopRampRates(Time dutyCyclePeriod,
 Time voltagePeriod)

Specified by:

setClosedLoopRampRates in class XCANMotorController

setTrapezoidalProfileAcceleration

public void setTrapezoidalProfileAcceleration(AngularAcceleration acceleration)

Specified by:

setTrapezoidalProfileAcceleration in class XCANMotorController

setTrapezoidalProfileJerk

public void setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk)

Specified by:

setTrapezoidalProfileJerk in class XCANMotorController

setTrapezoidalProfileMaxVelocity

public void setTrapezoidalProfileMaxVelocity(AngularVelocity velocity)

Specified by:

setTrapezoidalProfileMaxVelocity in class XCANMotorController

setPidDirectly

public void setPidDirectly(XCANMotorControllerPIDProperties pidProperties,
 int slot)

Description copied from class: XCANMotorController

Set the PID values for the motor controller directly, without using the property system.

Specified by:

setPidDirectly in class XCANMotorController

Parameters:

pidProperties - The PID properties to set.

slot - The PID slot to set the values for.

getHealth

public DeviceHealth getHealth()

Specified by:

getHealth in class XCANMotorController

setPower

public void setPower(double power)

Specified by:

setPower in class XCANMotorController

setPowerInternal

public void setPowerInternal(double power)

getPower

public double getPower()

Specified by:

getPower in class XCANMotorController

setPowerRange

public void setPowerRange(double minPower,
 double maxPower)

Specified by:

setPowerRange in class XCANMotorController

getRawPosition_internal

public Angle getRawPosition_internal()

setRawPosition

public void setRawPosition(Angle position)

Description copied from class: XCANMotorController

Override the position of the motor controller.

Typically, this would be called to zero the reported position of the motor as part of a calibration routine.

Specified by:

setRawPosition in class XCANMotorController

Parameters:

position - The new position to set.

setRawPositionTarget

public void setRawPositionTarget(Angle rawPosition,
 XCANMotorController.MotorPidMode mode,
 int slot)

Description copied from class: XCANMotorController

Set the target position for the motor controller.

Specified by:

setRawPositionTarget in class XCANMotorController

Parameters:

rawPosition - The target position to set.

mode - The PID mode to use when setting the target position.

slot - The PID slot to use when setting the target position.

getTargetPosition

public Angle getTargetPosition()

getRawTargetPosition

public Angle getRawTargetPosition()

getRawVelocity_internal

public AngularVelocity getRawVelocity_internal()

setVelocity

public void setVelocity(AngularVelocity velocity)

setRawVelocity

public void setRawVelocity(AngularVelocity rawVelocity)

setRawVelocityTarget

public void setRawVelocityTarget(AngularVelocity rawVelocity,
 XCANMotorController.MotorPidMode mode,
 int slot)

Description copied from class: XCANMotorController

Set the target velocity for the motor controller.

Specified by:

setRawVelocityTarget in class XCANMotorController

Parameters:

rawVelocity - The target velocity to set.

mode - The PID mode to use when setting the target velocity.

slot - The PID slot to use when setting the target velocity.

setRawVelocityTargetWithFeedForward

public void setRawVelocityTargetWithFeedForward(AngularVelocity rawVelocity,
 XCANMotorController.MotorPidMode mode,
 double feedForward,
 int slot)

Description copied from class: XCANMotorController

Set the target velocity for the motor controller.

Specified by:

setRawVelocityTargetWithFeedForward in class XCANMotorController

Parameters:

rawVelocity - The target velocity to set.

mode - The PID mode to use when setting the target velocity.

feedForward - The additional feed forward to apply (in volts for voltage PID modes or -1..1 for duty-cycle PID modes).

slot - The PID slot to use when setting the target velocity.

getRawTargetVelocity

public AngularVelocity getRawTargetVelocity()

setVoltage

public void setVoltage(Voltage voltage)

Specified by:

setVoltage in class XCANMotorController

setVoltageRange

public void setVoltageRange(Voltage minVoltage,
 Voltage maxVoltage)

Specified by:

setVoltageRange in class XCANMotorController

isInverted

public boolean isInverted()

Specified by:

isInverted in class XCANMotorController

getControlMode

public MockCANMotorController.ControlMode getControlMode()

setPositionAndVelocityUpdateFrequency

public void setPositionAndVelocityUpdateFrequency(Frequency frequency)

Specified by:

setPositionAndVelocityUpdateFrequency in class XCANMotorController

updateInputs

protected void updateInputs(XCANMotorControllerInputs inputs)

Specified by:

updateInputs in class XCANMotorController