#include <motor.hpp>

Inheritance diagram for okapi::Motor:

Public Member Functions
	Motor (std::int8_t iport)
	A V5 motor.

	Motor (std::uint8_t iport, bool ireverse, AbstractMotor::gearset igearset, AbstractMotor::encoderUnits iencoderUnits, const std::shared_ptr< Logger > &logger=Logger::getDefaultLogger())
	A V5 motor.

std::int32_t	moveAbsolute (double iposition, std::int32_t ivelocity) override
	Motor movement functions

std::int32_t	moveRelative (double iposition, std::int32_t ivelocity) override
	Sets the relative target position for the motor to move to.

std::int32_t	moveVelocity (std::int16_t ivelocity) override
	Sets the velocity for the motor.

std::int32_t	moveVoltage (std::int16_t ivoltage) override
	Sets the voltage for the motor from -12000 to 12000.

std::int32_t	modifyProfiledVelocity (std::int32_t ivelocity) override
	Changes the output velocity for a profiled movement (moveAbsolute or moveRelative).

double	getTargetPosition () override
	Motor telemetry functions

double	getPosition () override
	Gets the absolute position of the motor in its encoder units.

std::int32_t	tarePosition () override
	Sets the "absolute" zero position of the motor to its current position.

std::int32_t	getTargetVelocity () override
	Gets the velocity commanded to the motor by the user.

double	getActualVelocity () override
	Gets the actual velocity of the motor.

std::int32_t	getCurrentDraw () override
	Gets the current drawn by the motor in mA.

std::int32_t	getDirection () override
	Gets the direction of movement for the motor.

double	getEfficiency () override
	Gets the efficiency of the motor in percent.

std::int32_t	isOverCurrent () override
	Checks if the motor is drawing over its current limit.

std::int32_t	isOverTemp () override
	Checks if the motor's temperature is above its limit.

std::int32_t	isStopped () override
	Checks if the motor is stopped.

std::int32_t	getZeroPositionFlag () override
	Checks if the motor is at its zero position.

uint32_t	getFaults () override
	Gets the faults experienced by the motor.

uint32_t	getFlags () override
	Gets the flags set by the motor's operation.

std::int32_t	getRawPosition (std::uint32_t *timestamp) override
	Gets the raw encoder count of the motor at a given timestamp.

double	getPower () override
	Gets the power drawn by the motor in Watts.

double	getTemperature () override
	Gets the temperature of the motor in degrees Celsius.

double	getTorque () override
	Gets the torque generated by the motor in Newton Metres (Nm).

std::int32_t	getVoltage () override
	Gets the voltage delivered to the motor in millivolts.

std::int32_t	setBrakeMode (AbstractMotor::brakeMode imode) override
	Motor configuration functions

brakeMode	getBrakeMode () override
	Gets the brake mode that was set for the motor.

std::int32_t	setCurrentLimit (std::int32_t ilimit) override
	Sets the current limit for the motor in mA.

std::int32_t	getCurrentLimit () override
	Gets the current limit for the motor in mA.

std::int32_t	setEncoderUnits (AbstractMotor::encoderUnits iunits) override
	Sets one of AbstractMotor::encoderUnits for the motor encoder.

encoderUnits	getEncoderUnits () override
	Gets the encoder units that were set for the motor.

std::int32_t	setGearing (AbstractMotor::gearset igearset) override
	Sets one of AbstractMotor::gearset for the motor.

gearset	getGearing () override
	Gets the gearset that was set for the motor.

std::int32_t	setReversed (bool ireverse) override
	Sets the reverse flag for the motor.

std::int32_t	setVoltageLimit (std::int32_t ilimit) override
	Sets the voltage limit for the motor in Volts.

virtual std::int32_t	setPosPID (double ikF, double ikP, double ikI, double ikD)
	Sets new PID constants.

virtual std::int32_t	setPosPIDFull (double ikF, double ikP, double ikI, double ikD, double ifilter, double ilimit, double ithreshold, double iloopSpeed)
	Sets new PID constants.

virtual std::int32_t	setVelPID (double ikF, double ikP, double ikI, double ikD)
	Sets new PID constants.

virtual std::int32_t	setVelPIDFull (double ikF, double ikP, double ikI, double ikD, double ifilter, double ilimit, double ithreshold, double iloopSpeed)
	Sets new PID constants.

std::shared_ptr< ContinuousRotarySensor >	getEncoder () override
	Get the encoder associated with this motor.

void	controllerSet (double ivalue) override
	Writes the value of the controller output.

std::uint8_t	getPort () const

bool	isReversed () const

Public Member Functions inherited from okapi::AbstractMotor
virtual	~AbstractMotor ()

double	getPositionError ()
	Gets the positional error (target position minus actual position) of the motor in its encoder units.

double	getVelocityError ()
	Gets the difference between the target velocity of the motor and the actual velocity of the motor.

Protected Attributes
std::uint8_t	port

std::int8_t	reversed {1}

Additional Inherited Members
Public Types inherited from okapi::AbstractMotor
enum class	brakeMode { coast = 0 , brake = 1 , hold = 2 , invalid = INT32_MAX }
	Indicates the 'brake mode' of a motor. More...

enum class	encoderUnits { degrees = 0 , rotations = 1 , counts = 2 , invalid = INT32_MAX }
	Indicates the units used by the motor encoders. More...

enum class	gearset { red = 100 , green = 200 , blue = 600 , invalid = INT32_MAX }
	Indicates the internal gear ratio of a motor. More...

Detailed Description

Definition at line 13 of file motor.hpp.

Constructor & Destructor Documentation

◆ Motor() [1/2]

okapi::Motor::Motor ( std::int8_t iport )

A V5 motor.

Parameters

iport The port number in the range [1, 21]. A negative port number is shorthand for reversing the motor.

◆ Motor() [2/2]

okapi::Motor::Motor	(	std::uint8_t	iport,
		bool	ireverse,
		AbstractMotor::gearset	igearset,
		AbstractMotor::encoderUnits	iencoderUnits,
		const std::shared_ptr< Logger > &	logger = `Logger::getDefaultLogger()`
	)

A V5 motor.

Parameters

iport	The port number in the range [1, 21].
ireverse	Whether the motor is reversed (this setting is not written to the motor, it is maintained by okapi::Motor instead).
igearset	The internal gearset to set in the motor.
iencoderUnits	The encoder units to set in the motor.
logger	The logger that initialization warnings will be logged to.

Member Function Documentation

◆ controllerSet()

void okapi::Motor::controllerSet ( double ivalue )

overridevirtual

Writes the value of the controller output.

This method might be automatically called in another thread by the controller. The range of input values is expected to be [-1, 1].

Parameters

ivalue The controller's output in the range [-1, 1].

Implements okapi::ControllerOutput< double >.

◆ getActualVelocity()

double okapi::Motor::getActualVelocity ( )

overridevirtual

Gets the actual velocity of the motor.

Returns: The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getBrakeMode()

brakeMode okapi::Motor::getBrakeMode ( )

overridevirtual

Gets the brake mode that was set for the motor.

Returns: One of brakeMode, according to what was set for the motor, or brakeMode::invalid if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getCurrentDraw()

std::int32_t okapi::Motor::getCurrentDraw ( )

overridevirtual

Gets the current drawn by the motor in mA.

Returns: The motor's current in mA or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getCurrentLimit()

std::int32_t okapi::Motor::getCurrentLimit ( )

overridevirtual

Gets the current limit for the motor in mA.

The default value is 2500 mA.

Returns: The motor's current limit in mA or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getDirection()

std::int32_t okapi::Motor::getDirection ( )

overridevirtual

Gets the direction of movement for the motor.

Returns: 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getEfficiency()

double okapi::Motor::getEfficiency ( )

overridevirtual

Gets the efficiency of the motor in percent.

An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving.

Returns: The motor's efficiency in percent or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getEncoder()

std::shared_ptr< ContinuousRotarySensor > okapi::Motor::getEncoder ( )

overridevirtual

Get the encoder associated with this motor.

Returns: The encoder for this motor.

Implements okapi::AbstractMotor.

◆ getEncoderUnits()

encoderUnits okapi::Motor::getEncoderUnits ( )

overridevirtual

Gets the encoder units that were set for the motor.

Returns: One of encoderUnits according to what is set for the motor or encoderUnits::invalid if the operation failed.

Implements okapi::AbstractMotor.

◆ getFaults()

uint32_t okapi::Motor::getFaults ( )

overridevirtual

Gets the faults experienced by the motor.

Compare this bitfield to the bitmasks in pros::motor_fault_e_t.

Returns: A currently unknown bitfield containing the motor's faults. 0b00000100 = Current Limit Hit

Implements okapi::AbstractMotor.

◆ getFlags()

uint32_t okapi::Motor::getFlags ( )

overridevirtual

Gets the flags set by the motor's operation.

Compare this bitfield to the bitmasks in pros::motor_flag_e_t.

Returns: A currently unknown bitfield containing the motor's flags. These seem to be unrelated to the individual get_specific_flag functions

Implements okapi::AbstractMotor.

◆ getGearing()

gearset okapi::Motor::getGearing ( )

overridevirtual

Gets the gearset that was set for the motor.

Returns: One of gearset according to what is set for the motor, or gearset::invalid if the operation failed.

Implements okapi::AbstractMotor.

◆ getPort()

std::uint8_t okapi::Motor::getPort ( ) const

Returns: The port number.

◆ getPosition()

double okapi::Motor::getPosition ( )

overridevirtual

Gets the absolute position of the motor in its encoder units.

Returns: The motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getPower()

double okapi::Motor::getPower ( )

overridevirtual

Gets the power drawn by the motor in Watts.

Returns: The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getRawPosition()

std::int32_t okapi::Motor::getRawPosition ( std::uint32_t * timestamp )

overridevirtual

Gets the raw encoder count of the motor at a given timestamp.

Parameters

timestamp A pointer to a time in milliseconds for which the encoder count will be returned. If NULL, the timestamp at which the encoder count was read will not be supplied

Returns: The raw encoder count at the given timestamp or PROS_ERR if the operation failed.

Implements okapi::AbstractMotor.

◆ getTargetPosition()

double okapi::Motor::getTargetPosition ( )

overridevirtual

Motor telemetry functions

These functions allow programmers to collect telemetry from motors
Gets the target position set for the motor by the user.

Returns: The target position in its encoder units or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getTargetVelocity()

std::int32_t okapi::Motor::getTargetVelocity ( )

overridevirtual

Gets the velocity commanded to the motor by the user.

Returns: The commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getTemperature()

double okapi::Motor::getTemperature ( )

overridevirtual

Gets the temperature of the motor in degrees Celsius.

Returns: The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getTorque()

double okapi::Motor::getTorque ( )

overridevirtual

Gets the torque generated by the motor in Newton Metres (Nm).

Returns: The motor's torque in NM or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getVoltage()

std::int32_t okapi::Motor::getVoltage ( )

overridevirtual

Gets the voltage delivered to the motor in millivolts.

Returns: The motor's voltage in V or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ getZeroPositionFlag()

std::int32_t okapi::Motor::getZeroPositionFlag ( )

overridevirtual

Checks if the motor is at its zero position.

Although this function forwards data from the motor, the motor presently does not provide any value. This function returns PROS_ERR with errno set to ENOSYS.

Returns: 1 if the motor is at zero absolute position, 0 if the motor has moved from its absolute zero, or PROS_ERR if the operation failed, setting errno

Implements okapi::AbstractMotor.

◆ isOverCurrent()

std::int32_t okapi::Motor::isOverCurrent ( )

overridevirtual

Checks if the motor is drawing over its current limit.

Returns: 1 if the motor's current limit is being exceeded and 0 if the current limit is not exceeded, or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ isOverTemp()

std::int32_t okapi::Motor::isOverTemp ( )

overridevirtual

Checks if the motor's temperature is above its limit.

Returns: 1 if the temperature limit is exceeded and 0 if the the temperature is below the limit, or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ isReversed()

bool okapi::Motor::isReversed ( ) const

Returns: Whether this motor is reversed.

◆ isStopped()

std::int32_t okapi::Motor::isStopped ( )

overridevirtual

Checks if the motor is stopped.

Although this function forwards data from the motor, the motor presently does not provide any value. This function returns PROS_ERR with errno set to ENOSYS.

Returns: 1 if the motor is not moving, 0 if the motor is moving, or PROS_ERR if the operation failed, setting errno

Implements okapi::AbstractMotor.

◆ modifyProfiledVelocity()

std::int32_t okapi::Motor::modifyProfiledVelocity ( std::int32_t ivelocity )

overridevirtual

Changes the output velocity for a profiled movement (moveAbsolute or moveRelative).

This will have no effect if the motor is not following a profiled movement.

Parameters

ivelocity The new motor velocity from -+-100, +-200, or +-600 depending on the motor's gearset

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ moveAbsolute()

std::int32_t okapi::Motor::moveAbsolute	(	double	iposition,
		std::int32_t	ivelocity
	)

overridevirtual

Motor movement functions

These functions allow programmers to make motors move
Sets the target absolute position for the motor to move to.

This movement is relative to the position of the motor when initialized or the position when it was most recently reset with setZeroPosition().

Note: This function simply sets the target for the motor, it does not block program execution until the movement finishes.

Parameters

iposition	The absolute position to move to in the motor's encoder units
ivelocity	The maximum allowable velocity for the movement in RPM

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ moveRelative()

std::int32_t okapi::Motor::moveRelative	(	double	iposition,
		std::int32_t	ivelocity
	)

overridevirtual

Sets the relative target position for the motor to move to.

This movement is relative to the current position of the motor. Providing 10.0 as the position parameter would result in the motor moving clockwise 10 units, no matter what the current position is.

Note: This function simply sets the target for the motor, it does not block program execution until the movement finishes.

Parameters

iposition	The relative position to move to in the motor's encoder units
ivelocity	The maximum allowable velocity for the movement in RPM

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ moveVelocity()

std::int32_t okapi::Motor::moveVelocity ( std::int16_t ivelocity )

overridevirtual

Sets the velocity for the motor.

This velocity corresponds to different actual speeds depending on the gearset used for the motor. This results in a range of +-100 for pros::c::red, +-200 for green, and +-600 for blue. The velocity is held with PID to ensure consistent speed, as opposed to setting the motor's voltage.

Parameters

ivelocity The new motor velocity from -+-100, +-200, or +-600 depending on the motor's gearset

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ moveVoltage()

std::int32_t okapi::Motor::moveVoltage ( std::int16_t ivoltage )

overridevirtual

Sets the voltage for the motor from -12000 to 12000.

Parameters

ivoltage The new voltage value from -12000 to 12000.

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setBrakeMode()

std::int32_t okapi::Motor::setBrakeMode ( AbstractMotor::brakeMode imode )

overridevirtual

Motor configuration functions

These functions allow programmers to configure the behavior of motors
Sets one of AbstractMotor::brakeMode to the motor.

Parameters

imode The new motor brake mode to set for the motor

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setCurrentLimit()

std::int32_t okapi::Motor::setCurrentLimit ( std::int32_t ilimit )

overridevirtual

Sets the current limit for the motor in mA.

Parameters

ilimit The new current limit in mA

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setEncoderUnits()

std::int32_t okapi::Motor::setEncoderUnits ( AbstractMotor::encoderUnits iunits )

overridevirtual

Sets one of AbstractMotor::encoderUnits for the motor encoder.

Parameters

iunits The new motor encoder units

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setGearing()

std::int32_t okapi::Motor::setGearing ( AbstractMotor::gearset igearset )

overridevirtual

Sets one of AbstractMotor::gearset for the motor.

Parameters

igearset The new motor gearset

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setPosPID()

virtual std::int32_t okapi::Motor::setPosPID	(	double	ikF,
		double	ikP,
		double	ikI,
		double	ikD
	)

virtual

Sets new PID constants.

Parameters

ikF	the feed-forward constant
ikP	the proportional constant
ikI	the integral constant
ikD	the derivative constant

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

◆ setPosPIDFull()

virtual std::int32_t okapi::Motor::setPosPIDFull	(	double	ikF,
		double	ikP,
		double	ikI,
		double	ikD,
		double	ifilter,
		double	ilimit,
		double	ithreshold,
		double	iloopSpeed
	)

virtual

Sets new PID constants.

Parameters

ikF	the feed-forward constant
ikP	the proportional constant
ikI	the integral constant
ikD	the derivative constant
ifilter	a constant used for filtering the profile acceleration
ilimit	the integral limit
ithreshold	the threshold for determining if a position movement has reached its goal
iloopSpeed	the rate at which the PID computation is run (in ms)

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

◆ setReversed()

std::int32_t okapi::Motor::setReversed ( bool ireverse )

overridevirtual

Sets the reverse flag for the motor.

This will invert its movements and the values returned for its position.

Parameters

ireverse True reverses the motor, false is default

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ setVelPID()

virtual std::int32_t okapi::Motor::setVelPID	(	double	ikF,
		double	ikP,
		double	ikI,
		double	ikD
	)

virtual

Sets new PID constants.

Parameters

ikF	the feed-forward constant
ikP	the proportional constant
ikI	the integral constant
ikD	the derivative constant

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

◆ setVelPIDFull()

virtual std::int32_t okapi::Motor::setVelPIDFull	(	double	ikF,
		double	ikP,
		double	ikI,
		double	ikD,
		double	ifilter,
		double	ilimit,
		double	ithreshold,
		double	iloopSpeed
	)

virtual

Sets new PID constants.

Parameters

ikF	the feed-forward constant
ikP	the proportional constant
ikI	the integral constant
ikD	the derivative constant
ifilter	a constant used for filtering the profile acceleration
ilimit	the integral limit
ithreshold	the threshold for determining if a position movement has reached its goal
iloopSpeed	the rate at which the PID computation is run (in ms)

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

◆ setVoltageLimit()

std::int32_t okapi::Motor::setVoltageLimit ( std::int32_t ilimit )

overridevirtual

Sets the voltage limit for the motor in Volts.

Parameters

ilimit The new voltage limit in Volts

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

◆ tarePosition()

std::int32_t okapi::Motor::tarePosition ( )

overridevirtual

Sets the "absolute" zero position of the motor to its current position.

Returns: 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::AbstractMotor.

Member Data Documentation

◆ port

std::uint8_t okapi::Motor::port

protected

Definition at line 454 of file motor.hpp.

◆ reversed

std::int8_t okapi::Motor::reversed {1}

protected

Definition at line 455 of file motor.hpp.

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

include/okapi/impl/device/motor/motor.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Motor() [1/2]

◆ Motor() [2/2]

Member Function Documentation

◆ controllerSet()

◆ getActualVelocity()

◆ getBrakeMode()

◆ getCurrentDraw()

◆ getCurrentLimit()

◆ getDirection()

◆ getEfficiency()

◆ getEncoder()

◆ getEncoderUnits()

◆ getFaults()

◆ getFlags()

◆ getGearing()

◆ getPort()

◆ getPosition()

◆ getPower()

◆ getRawPosition()

◆ getTargetPosition()

◆ getTargetVelocity()

◆ getTemperature()

◆ getTorque()

◆ getVoltage()

◆ getZeroPositionFlag()

◆ isOverCurrent()

◆ isOverTemp()

◆ isReversed()

◆ isStopped()

◆ modifyProfiledVelocity()

◆ moveAbsolute()

◆ moveRelative()

◆ moveVelocity()

◆ moveVoltage()

◆ setBrakeMode()

◆ setCurrentLimit()

◆ setEncoderUnits()

◆ setGearing()

◆ setPosPID()

◆ setPosPIDFull()

◆ setReversed()

◆ setVelPID()

◆ setVelPIDFull()

◆ setVoltageLimit()

◆ tarePosition()

Member Data Documentation

◆ port

◆ reversed