Flywheel Class Reference

#include <flywheel.h>

Public Member Functions
	Flywheel (vex::motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt)
double	get_target () const
double	getRPM () const
vex::motor_group &	get_motors () const
void	spin_manual (double speed, directionType dir=fwd)
void	spin_rpm (double rpm)
void	stop ()
bool	is_on_target ()
	check if the feedback controller thinks the flywheel is on target
screen::Page *	Page () const
	Creates a page displaying info about the flywheel.
AutoCommand *	SpinRpmCmd (int rpm)
	Creates a new auto command to spin the flywheel at the desired velocity.
AutoCommand *	WaitUntilUpToSpeedCmd ()
	Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller.

Friends
int	spinRPMTask (void *wheelPointer)

Detailed Description

a Flywheel class that handles all control of a high inertia spinning disk It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed. Flywheel is a set and forget class. Once you create it you can call spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this

Constructor & Destructor Documentation

Flywheel()

Flywheel::Flywheel	(	vex::motor_group &	motors,
		Feedback &	feedback,
		FeedForward &	helper,
		const double	ratio,
		Filter &	filt )

Create the Flywheel object using PID + feedforward for control.

Parameters

motors	pointer to the motors on the fly wheel
feedback	a feedback controleller
helper	a feedforward config (only kV is used) to help the feedback controller along
ratio	ratio of the gears from the motor to the flywheel just multiplies the velocity
filter	the filter to use to smooth noisy motor readings

Member Function Documentation

get_motors()

motor_group & Flywheel::get_motors

(

)

const

Returns the motors

Returns

the motors used to run the flywheel

get_target()

double Flywheel::get_target

(

)

const

Return the target_rpm that the flywheel is currently trying to achieve

Returns

target_rpm the target rpm

Return the current value that the target_rpm should be set to

getRPM()

double Flywheel::getRPM

(

)

const

return the velocity of the flywheel

is_on_target()

bool Flywheel::is_on_target ( )

inline

check if the feedback controller thinks the flywheel is on target

Returns

true if on target

Page()

screen::Page * Flywheel::Page

(

)

const

Creates a page displaying info about the flywheel.

Returns

the page should be used for `screen::start_screen(screen, {fw.Page()});

spin_manual()

void Flywheel::spin_manual	(	double	speed,
		directionType	dir = fwd )

Spin motors using voltage; defaults forward at 12 volts FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the target_rpm thread is not running

Parameters

speed	- speed (between -1 and 1) to set the motor
dir	- direction that the motor moves in; defaults to forward

Spin motors using voltage; defaults forward at 12 volts FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running

Parameters

speed	- speed (between -1 and 1) to set the motor
dir	- direction that the motor moves in; defaults to forward

spin_rpm()

void Flywheel::spin_rpm

(

double

input_rpm

)

starts or sets the target_rpm thread at new value what control scheme is dependent on control_style

Parameters

rpm	- the target_rpm we want to spin at

starts or sets the RPM thread at new value what control scheme is dependent on control_style

Parameters

input_rpm

- set the current RPM

SpinRpmCmd()

AutoCommand * Flywheel::SpinRpmCmd ( int rpm )

inline

Creates a new auto command to spin the flywheel at the desired velocity.

Parameters

rpm	the rpm to spin at

Returns

an auto command to add to a command controller

stop()

void Flywheel::stop

(

)

Stops the motors. If manually spinning, this will do nothing just call spin_mainual(0.0) to send 0 volts

stop the RPM thread and the wheel

WaitUntilUpToSpeedCmd()

AutoCommand * Flywheel::WaitUntilUpToSpeedCmd ( )

inline

Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller.

Returns

an auto command to add to a command controller

Friends And Related Symbol Documentation

spinRPMTask

int spinRPMTask ( void * wheelPointer )

friend

Runs a thread that keeps track of updating flywheel RPM and controlling it accordingly

---

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

• flywheel.h
• flywheel.cpp