Talon Class Reference

#include <Talon.h>

Inheritance diagram for Talon:

Public Member Functions
	Talon (uint32_t channel)
	Talon (uint8_t moduleNumber, uint32_t channel)
virtual void	Set (float value, uint8_t syncGroup=0)
virtual float	Get ()
virtual void	Disable ()
virtual void	PIDWrite (float output)
Public Member Functions inherited from SafePWM
	SafePWM (uint32_t channel)
	SafePWM (uint8_t moduleNumber, uint32_t channel)
void	SetExpiration (float timeout)
float	GetExpiration ()
bool	IsAlive ()
void	StopMotor ()
bool	IsSafetyEnabled ()
void	SetSafetyEnabled (bool enabled)
void	GetDescription (char *desc)
virtual void	SetSpeed (float speed)
Public Member Functions inherited from PWM
	PWM (uint32_t channel)
	PWM (uint8_t moduleNumber, uint32_t channel)
virtual	~PWM ()
virtual void	SetRaw (uint8_t value)
virtual uint8_t	GetRaw ()
void	SetPeriodMultiplier (PeriodMultiplier mult)
void	EnableDeadbandElimination (bool eliminateDeadband)
void	SetBounds (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
void	SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
uint32_t	GetChannel ()
uint32_t	GetModuleNumber ()
Public Member Functions inherited from SensorBase
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...
virtual void	SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	CloneError (ErrorBase *rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Additional Inherited Members
Public Types inherited from PWM
enum	PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
static uint32_t	GetDefaultAnalogModule ()
static uint32_t	GetDefaultDigitalModule ()
static uint32_t	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (uint8_t moduleNumber)
static bool	CheckDigitalModule (uint8_t moduleNumber)
static bool	CheckPWMModule (uint8_t moduleNumber)
static bool	CheckRelayModule (uint8_t moduleNumber)
static bool	CheckSolenoidModule (uint8_t moduleNumber)
static bool	CheckDigitalChannel (uint32_t channel)
static bool	CheckRelayChannel (uint32_t channel)
static bool	CheckPWMChannel (uint32_t channel)
static bool	CheckAnalogChannel (uint32_t channel)
static bool	CheckSolenoidChannel (uint32_t channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static Error &	GetGlobalError ()
Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40
static const uint32_t	kDigitalChannels = 14
static const uint32_t	kAnalogChannels = 8
static const uint32_t	kAnalogModules = 2
static const uint32_t	kDigitalModules = 2
static const uint32_t	kSolenoidChannels = 8
static const uint32_t	kSolenoidModules = 2
static const uint32_t	kPwmChannels = 10
static const uint32_t	kRelayChannels = 8
static const uint32_t	kChassisSlots = 8
Protected Member Functions inherited from PWM
virtual void	SetPosition (float pos)
virtual float	GetPosition ()
virtual float	GetSpeed ()
void	ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew)
void	UpdateTable ()
void	StartLiveWindowMode ()
void	StopLiveWindowMode ()
std::string	GetSmartDashboardType ()
void	InitTable (ITable *subTable)
ITable *	GetTable ()
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.
Protected Attributes inherited from PWM
bool	m_eliminateDeadband
int32_t	m_maxPwm
int32_t	m_deadbandMaxPwm
int32_t	m_centerPwm
int32_t	m_deadbandMinPwm
int32_t	m_minPwm
ITable *	m_table
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from PWM
static constexpr float	kDefaultPwmPeriod = 5.05
static constexpr float	kDefaultPwmCenter = 1.5
static const int32_t	kDefaultPwmStepsDown = 128
static const int32_t	kPwmDisabled = 0
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

CTRE Talon Speed Controller

Constructor & Destructor Documentation

Talon::Talon ( uint32_t  channel )

explicit

Constructor that assumes the default digital module.

Parameters

channel

The PWM channel on the digital module that the Talon is attached to.

Talon::Talon	(	uint8_t	moduleNumber,
		uint32_t	channel
	)

Constructor that specifies the digital module.

Parameters

moduleNumber	The digital module (1 or 2).
channel	The PWM channel on the digital module that the Talon is attached to (1..10).

Member Function Documentation

void Talon::Disable ( )

virtual

Common interface for disabling a motor.

Implements SpeedController.

float Talon::Get ( )

virtual

Get the recently set value of the PWM.

Returns

The most recently set value for the PWM between -1.0 and 1.0.

Implements SpeedController.

void Talon::PIDWrite ( float  output )

virtual

Write out the PID value as seen in the PIDOutput base object.

Parameters

output

Write out the PWM value as was found in the PIDController

Implements PIDOutput.

void Talon::Set ( float  speed, uint8_t  syncGroup = 0  )

virtual

Set the PWM value.

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the FPGA.

Parameters

speed	The speed value between -1.0 and 1.0 to set.
syncGroup	Unused interface.

Implements SpeedController.

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

• Talon.h
• Talon.cpp