studica::TitanQuad Class Reference

TitanQuad class testing c++ documentation. More...

#include <TitanQuad.h>

Inheritance diagram for studica::TitanQuad:

Public Member Functions
	TitanQuad (int deviceID, int frequency, int motor)
	TitanQuad (int deviceID, int motor)
	~TitanQuad ()
int	GetID ()
int	GetFrequency ()
std::string	GetFirmwareVersion ()
std::string	GetHardwareVersion ()
double	GetCurrent ()
double	GetControllerTemp ()
void	Set (double speed) override
double	Get () const override
void	SetInverted (bool isInverted) override
bool	GetInverted () const override
void	Disable () override
void	StopMotor () override
void	PIDWrite (double output) override
void	SetCurrentLimit ()
double	GetLimitSwitch (bool direction)
double	GetRPM ()
int	GetFaults ()
void	ClearFaults ()
bool	EnableSoftLimit ()
std::string	GetSerialNumber ()

Friends
class	TitanQuadEncoder

Detailed Description

TitanQuad class testing c++ documentation.

Author

Studica Limited

Date

April 2020

Constructor & Destructor Documentation

TitanQuad() [1/2]

studica::TitanQuad::TitanQuad	(	int	deviceID,
		int	frequency,
		int	motor
	)

Constructor for Titan Motor Controller

Allows for a custom frequency to be set

Parameters

deviceID	Device id for the controller
frequency	Frequency internal motor pwm operates at, range 0 - 20kHz
motor	THe motor to initialize

TitanQuad() [2/2]

studica::TitanQuad::TitanQuad	(	int	deviceID,
		int	motor
	)

Constructor for Titan Motor Controller

Parameters

deviceID	Device id for the controller
motor	The motor to initialize

~TitanQuad()

studica::TitanQuad::~TitanQuad

(

)

Closes Titan.

Member Function Documentation

ClearFaults()

void studica::TitanQuad::ClearFaults

(

)

clear faults

Parameters

motor

- description

EnableSoftLimit()

bool studica::TitanQuad::EnableSoftLimit

(

)

enable soft limit

Parameters

motor

- description

Returns

enabled or disabled

GetControllerTemp()

double studica::TitanQuad::GetControllerTemp

(

)

Gets controller temp value

Returns

controller temp calue

GetCurrent()

double studica::TitanQuad::GetCurrent

(

)

Grabs the specified motors current pull

Parameters

motor

motor to be checked

Returns

current in amps

GetFaults()

int studica::TitanQuad::GetFaults

(

)

get faults

Parameters

motor

- description

Returns

faults

GetFirmwareVersion()

std::string studica::TitanQuad::GetFirmwareVersion

(

)

Gets the firmware version

Returns

a string with the firmware version

GetFrequency()

int studica::TitanQuad::GetFrequency

(

)

Gets the frequency that the motor internal PWM is operating at

Returns

frequency in Hz

GetHardwareVersion()

std::string studica::TitanQuad::GetHardwareVersion

(

)

Gets the hardware and hardware version

Returns

a string with hardware type and version number

GetID()

int studica::TitanQuad::GetID

(

)

Gets the device id

Returns

the device id

GetLimitSwitch()

double studica::TitanQuad::GetLimitSwitch

(

bool

direction

)

get limit switch

Parameters

motor	- description
direction	- forward or reverse

Returns

limit switch

GetRPM()

double studica::TitanQuad::GetRPM

(

)

Gets the round per minute of encoder

GetSerialNumber()

std::string studica::TitanQuad::GetSerialNumber

(

)

Serial Number is required for any support requesets

Returns

Serial Number

Set()

void studica::TitanQuad::Set ( double  speed )

override

Common interface for setting the speed of a speed controller.

Parameters

speed

The speed to set. Value should be between -1.0 and 1.0.

SetCurrentLimit()

void studica::TitanQuad::SetCurrentLimit

(

)

set current limit

Parameters

motor

- description

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

• C:/Users/Studica/Studica/Studica/src/main/native/include/studica/TitanQuad.h