-
Notifications
You must be signed in to change notification settings - Fork 0
/
_turret_base_8cpp_source.html
264 lines (262 loc) · 41 KB
/
_turret_base_8cpp_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.3"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>TecDroid Template: src/main/cpp/subsystems/TurretBase.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectlogo"><img alt="Logo" src="tecdroid-logo (2).png"/></td>
<td id="projectalign">
<div id="projectname">TecDroid Template<span id="projectnumber"> 2.0.1</span>
</div>
<div id="projectbrief">FRC team 3354 template code by Esteban Padilla Cerdio</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.3 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search",'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$(document).ready(function(){initNavTree('_turret_base_8cpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div class="header">
<div class="headertitle"><div class="title">TurretBase.cpp</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&,</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&%</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> .&&&&/ &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&&&&*</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> .%&&&( &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&% %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> %&&&# %#&&# (&&&&&&&&&&& %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> *&&&# (&&&&&&&&&&& / %&&&&&&&&&&&</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">*&% , (&&&&&&&&&&&(&&&&( &&&&&&&&&&&</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">& (,.. (&&&&&&&&&&&&&&&& %&&&&&&&&&&</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> &* (&&&&&&&&&&&&&&&& &&&&&&&&&&&</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> &/ (&&&&&&&&&&&&&&&&% &&&&&&&&&&&(</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> #&& .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&#**(&&&&&&&&&&&&&#</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> &# (& ......... &&&&&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> /& & .&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> %&&* &* ,%&&&&&&&&&&&&&%*</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"></span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> Author: Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> Email: esteban37padilla@gmail.com</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> URL: github.com/esteb37</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> github.com/tecdroid-3354</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> Date: 12/04/2022 Language: cpp</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> Copyright (c) TecDroid 3354 and Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> Open Source Software; you can modify and/or share it under the terms of</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">*/</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="preprocessor">#include "subsystems/TurretBase.h"</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="keyword">using namespace </span>TecDroid;</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a24a10c94c6cb7e86106ffdce0278d2c0"> 30</a></span>TurretBase::TurretBase(MotorConfig motorConfig, EncoderConfig encoderConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> motorPort) : <a class="code hl_class" href="class_tec_droid_1_1_encoder_subsystem.html">EncoderSubsystem</a>(motorConfig, encoderConfig, motorPort), <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(motorConfig, motorPort)</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span>{</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> SetName(<span class="stringliteral">"Turret"</span>);</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span>}</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a7ec69d01b8bbc4a0aa1374cc34d0955e"> 35</a></span><a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a24a10c94c6cb7e86106ffdce0278d2c0">TurretBase::TurretBase</a>(MotorConfig motorConfig, EncoderConfig encoderConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> motorPort, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> encoderA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> encoderB) : <a class="code hl_class" href="class_tec_droid_1_1_encoder_subsystem.html">EncoderSubsystem</a>(motorConfig, encoderConfig, motorPort, encoderA, encoderB), <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(motorConfig, motorPort)</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span>{</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> SetName(<span class="stringliteral">"Turret"</span>);</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>}</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keywordtype">void</span> TurretBase::Periodic()</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keywordflow">if</span> (!m_keepingStill)</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> {</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> m_angle = <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#aa45b66ca8db6a1f189225bd732db8411">GetAngle</a>();</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> }</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> m_keepingStill = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>}</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a139703a08eb3cb1a6c1623e8043998f7"> 51</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a139703a08eb3cb1a6c1623e8043998f7">TurretBase::Turn</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span>{</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#af6b2428a2d6678ce203d2ffdda33ae5f">SetMotor</a>(speed);</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span>}</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a77b1bf9dbb095f879059ffb9bddac5d4"> 56</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a77b1bf9dbb095f879059ffb9bddac5d4">TurretBase::Reset</a>()</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#a0006471f8f3dae605bc79e297aa0f80c">ResetEncoder</a>();</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#a4b1e6aa318b52a3ef73fabd3e7d286e4">ResetPositionPID</a>();</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a12ab6fb4808e9318c2384c9a1fee5375">ResetAlignPID</a>();</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>}</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a4c864d0cfee8567bf24f99d056a17bf1"> 63</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a4c864d0cfee8567bf24f99d056a17bf1">TurretBase::KeepStill</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span>{</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> m_keepingStill = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a08c09a8cc69a0f3f48875955f2515877">SetAngle</a>(m_angle, speed);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>}</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a90758e778b48cb49bfa61fd20c770875"> 70</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a90758e778b48cb49bfa61fd20c770875">TurretBase::Center</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span>{</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a08c09a8cc69a0f3f48875955f2515877">SetAngle</a>(0, speed);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span>}</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a08c09a8cc69a0f3f48875955f2515877"> 75</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a08c09a8cc69a0f3f48875955f2515877">TurretBase::SetAngle</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span>{</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordflow">if</span> (angle > m_freedom / 2 && angle < -m_freedom / 2)</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> {</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">"Turret angle must be within "</span> + to_string(m_freedom / 2) + <span class="stringliteral">" degrees of the center"</span>);</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> }</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> {</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#a952923271286b99edb365e23f2c3e5c4">SetPosition</a>(angle, speed);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> }</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>}</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#aa45b66ca8db6a1f189225bd732db8411"> 88</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#aa45b66ca8db6a1f189225bd732db8411">TurretBase::GetAngle</a>()</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span>{</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#a61a8ab14b6b7b8a4742407248afb8fe3">GetPosition</a>();</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span>}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a226a9dbee3ddf4ad27a80c494228b2a7"> 93</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a226a9dbee3ddf4ad27a80c494228b2a7">TurretBase::ConfigureAnglePID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span>{</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#a245e000908329428955df031b086130f">ConfigurePositionPID</a>(p, i, d, tolerance, inverted);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span>}</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#ac1c1a406d6177c7e3c08345cb0b15208"> 98</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#ac1c1a406d6177c7e3c08345cb0b15208">TurretBase::PrintAngle</a>()</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span>{</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Angle"</span>, <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#aa45b66ca8db6a1f189225bd732db8411">GetAngle</a>());</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span>}</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#ae9c9836a5e8cc82568a105f2cfc725dc"> 103</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#ae9c9836a5e8cc82568a105f2cfc725dc">TurretBase::PrintAnglePIDError</a>()</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span>{</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Angle PID Error"</span>, m_positionPID->GetPositionError());</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span>}</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a8964a0073c7a4aec039b734960e77f9d"> 108</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a8964a0073c7a4aec039b734960e77f9d">TurretBase::Align</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span>{</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> m_alignPID.SetSetpoint(0);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">double</span> output = m_alignPID.Calculate(m_limelight.GetHorizontalAngle() * m_alignPIDDirection);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#af6b2428a2d6678ce203d2ffdda33ae5f">SetMotor</a>(output * speed);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">return</span> m_alignPID.AtSetpoint();</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>}</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a60afafa27a495f92af02e1790931842b"> 119</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a60afafa27a495f92af02e1790931842b">TurretBase::ConfigureAlignPID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> m_alignPID.SetPID(p, i, d);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> m_alignPID.SetTolerance(tolerance);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> m_alignPIDDirection = inverted ? -1 : 1;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span>}</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a12ab6fb4808e9318c2384c9a1fee5375"> 126</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a12ab6fb4808e9318c2384c9a1fee5375">TurretBase::ResetAlignPID</a>()</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span>{</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> m_alignPID.Reset();</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span>}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#a8144566b9d61ad505c29d270dc7e7878"> 131</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#a8144566b9d61ad505c29d270dc7e7878">TurretBase::PrintAlignPIDError</a>()</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>{</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Align PID Error"</span>, m_alignPID.GetPositionError());</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span>}</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_turret_base.html#add280ac54518f0062555be2e64aff5c7"> 136</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_turret_base.html#add280ac54518f0062555be2e64aff5c7">TurretBase::SetFreedom</a>(<span class="keywordtype">double</span> freedom)</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span>{</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> m_freedom = freedom;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_function" href="class_tec_droid_1_1_encoder_subsystem.html#ad1b6666a0ce91bf09f73c904a7473610">SetMinMaxPosition</a>(-freedom / 2, freedom / 2);</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html">TecDroid::EncoderSubsystem</a></div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8h_source.html#l00042">EncoderSubsystem.h:43</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_a0006471f8f3dae605bc79e297aa0f80c"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#a0006471f8f3dae605bc79e297aa0f80c">TecDroid::EncoderSubsystem::ResetEncoder</a></div><div class="ttdeci">void ResetEncoder()</div><div class="ttdoc">Sets the encoder's value to 0.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00225">EncoderSubsystem.cpp:225</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_a245e000908329428955df031b086130f"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#a245e000908329428955df031b086130f">TecDroid::EncoderSubsystem::ConfigurePositionPID</a></div><div class="ttdeci">void ConfigurePositionPID(double, double, double, double, bool=false)</div><div class="ttdoc">Configures the position's PID values, tolerance and direction.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00291">EncoderSubsystem.cpp:291</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_a4b1e6aa318b52a3ef73fabd3e7d286e4"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#a4b1e6aa318b52a3ef73fabd3e7d286e4">TecDroid::EncoderSubsystem::ResetPositionPID</a></div><div class="ttdeci">void ResetPositionPID()</div><div class="ttdoc">Resets the position PID.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00312">EncoderSubsystem.cpp:312</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_a61a8ab14b6b7b8a4742407248afb8fe3"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#a61a8ab14b6b7b8a4742407248afb8fe3">TecDroid::EncoderSubsystem::GetPosition</a></div><div class="ttdeci">double GetPosition()</div><div class="ttdoc">Get the encoder's position.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00277">EncoderSubsystem.cpp:277</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_a952923271286b99edb365e23f2c3e5c4"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#a952923271286b99edb365e23f2c3e5c4">TecDroid::EncoderSubsystem::SetPosition</a></div><div class="ttdeci">bool SetPosition(double, double)</div><div class="ttdoc">Set the subsystem to a specified position.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00265">EncoderSubsystem.cpp:265</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_ad1b6666a0ce91bf09f73c904a7473610"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#ad1b6666a0ce91bf09f73c904a7473610">TecDroid::EncoderSubsystem::SetMinMaxPosition</a></div><div class="ttdeci">void SetMinMaxPosition(double, double)</div><div class="ttdoc">Sets the minimum and maximum position for safety.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00393">EncoderSubsystem.cpp:393</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html_af6b2428a2d6678ce203d2ffdda33ae5f"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html#af6b2428a2d6678ce203d2ffdda33ae5f">TecDroid::EncoderSubsystem::SetMotor</a></div><div class="ttdeci">void SetMotor(double)</div><div class="ttdoc">Set the motor speed with safety considered.</div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8cpp_source.html#l00119">EncoderSubsystem.cpp:119</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_motor_subsystem_html"><div class="ttname"><a href="class_tec_droid_1_1_motor_subsystem.html">TecDroid::MotorSubsystem</a></div><div class="ttdef"><b>Definition:</b> <a href="_motor_subsystem_8h_source.html#l00051">MotorSubsystem.h:52</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a08c09a8cc69a0f3f48875955f2515877"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a08c09a8cc69a0f3f48875955f2515877">TecDroid::TurretBase::SetAngle</a></div><div class="ttdeci">bool SetAngle(double, double)</div><div class="ttdoc">Sets the turret to a specific angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00075">TurretBase.cpp:75</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a12ab6fb4808e9318c2384c9a1fee5375"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a12ab6fb4808e9318c2384c9a1fee5375">TecDroid::TurretBase::ResetAlignPID</a></div><div class="ttdeci">void ResetAlignPID()</div><div class="ttdoc">Resets the PID controller for aligning to target.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00126">TurretBase.cpp:126</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a139703a08eb3cb1a6c1623e8043998f7"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a139703a08eb3cb1a6c1623e8043998f7">TecDroid::TurretBase::Turn</a></div><div class="ttdeci">void Turn(double)</div><div class="ttdoc">Turns the turret.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00051">TurretBase.cpp:51</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a226a9dbee3ddf4ad27a80c494228b2a7"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a226a9dbee3ddf4ad27a80c494228b2a7">TecDroid::TurretBase::ConfigureAnglePID</a></div><div class="ttdeci">void ConfigureAnglePID(double, double, double, double, bool=false)</div><div class="ttdoc">Configure angle auto PID's values, tolerance and direction.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00093">TurretBase.cpp:93</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a24a10c94c6cb7e86106ffdce0278d2c0"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a24a10c94c6cb7e86106ffdce0278d2c0">TecDroid::TurretBase::TurretBase</a></div><div class="ttdeci">TurretBase(MotorConfig, EncoderConfig, unsigned int)</div><div class="ttdoc">Construct a new Turret object with a REV encoder.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00030">TurretBase.cpp:30</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a4c864d0cfee8567bf24f99d056a17bf1"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a4c864d0cfee8567bf24f99d056a17bf1">TecDroid::TurretBase::KeepStill</a></div><div class="ttdeci">void KeepStill(double)</div><div class="ttdoc">Keeps the turret at the last angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00063">TurretBase.cpp:63</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a60afafa27a495f92af02e1790931842b"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a60afafa27a495f92af02e1790931842b">TecDroid::TurretBase::ConfigureAlignPID</a></div><div class="ttdeci">void ConfigureAlignPID(double, double, double, double, bool=false)</div><div class="ttdoc">Configure align PID's values, tolerance and direction.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00119">TurretBase.cpp:119</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a77b1bf9dbb095f879059ffb9bddac5d4"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a77b1bf9dbb095f879059ffb9bddac5d4">TecDroid::TurretBase::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdoc">Resets encoder and PID controllers.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00056">TurretBase.cpp:56</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a8144566b9d61ad505c29d270dc7e7878"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a8144566b9d61ad505c29d270dc7e7878">TecDroid::TurretBase::PrintAlignPIDError</a></div><div class="ttdeci">void PrintAlignPIDError()</div><div class="ttdoc">Publishes the alignPID error on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00131">TurretBase.cpp:131</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a8964a0073c7a4aec039b734960e77f9d"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a8964a0073c7a4aec039b734960e77f9d">TecDroid::TurretBase::Align</a></div><div class="ttdeci">bool Align(double)</div><div class="ttdoc">Aligns the turret to the target.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00108">TurretBase.cpp:108</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_a90758e778b48cb49bfa61fd20c770875"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#a90758e778b48cb49bfa61fd20c770875">TecDroid::TurretBase::Center</a></div><div class="ttdeci">bool Center(double)</div><div class="ttdoc">Sets the turret to angle 0.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00070">TurretBase.cpp:70</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_aa45b66ca8db6a1f189225bd732db8411"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#aa45b66ca8db6a1f189225bd732db8411">TecDroid::TurretBase::GetAngle</a></div><div class="ttdeci">double GetAngle()</div><div class="ttdoc">Gets the turret's current angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00088">TurretBase.cpp:88</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_ac1c1a406d6177c7e3c08345cb0b15208"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#ac1c1a406d6177c7e3c08345cb0b15208">TecDroid::TurretBase::PrintAngle</a></div><div class="ttdeci">void PrintAngle()</div><div class="ttdoc">Prints the turret's angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00098">TurretBase.cpp:98</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_add280ac54518f0062555be2e64aff5c7"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#add280ac54518f0062555be2e64aff5c7">TecDroid::TurretBase::SetFreedom</a></div><div class="ttdeci">void SetFreedom(double)</div><div class="ttdoc">Sets the turret's freedom of revolution.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00136">TurretBase.cpp:136</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_turret_base_html_ae9c9836a5e8cc82568a105f2cfc725dc"><div class="ttname"><a href="class_tec_droid_1_1_turret_base.html#ae9c9836a5e8cc82568a105f2cfc725dc">TecDroid::TurretBase::PrintAnglePIDError</a></div><div class="ttdeci">void PrintAnglePIDError()</div><div class="ttdoc">Prints the turret's angle PID error.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_base_8cpp_source.html#l00103">TurretBase.cpp:103</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_fdf2b31f12d3ebb2f617242d0514024b.html">cpp</a></li><li class="navelem"><a class="el" href="dir_2a59f1b00facdb43e21fc1c516c8806d.html">subsystems</a></li><li class="navelem"><b>TurretBase.cpp</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.3 </li>
</ul>
</div>
</body>
</html>