okapi::Motor class
#include <include/okapi/impl/device/motor/motor.hpp>

Contents

Base classes

class AbstractMotor

Constructors, destructors, conversion operators

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.

Public functions

auto moveAbsolute(double iposition, std::int32_t ivelocity) -> std::int32_t override
Motor movement functions.
auto moveRelative(double iposition, std::int32_t ivelocity) -> std::int32_t override
Sets the relative target position for the motor to move to.
auto moveVelocity(std::int16_t ivelocity) -> std::int32_t override
Sets the velocity for the motor.
auto moveVoltage(std::int16_t ivoltage) -> std::int32_t override
Sets the voltage for the motor from -12000 to 12000.
auto modifyProfiledVelocity(std::int32_t ivelocity) -> std::int32_t override
Changes the output velocity for a profiled movement (moveAbsolute or moveRelative).
auto getTargetPosition() -> double override
Motor telemetry functions.
auto getPosition() -> double override
Gets the absolute position of the motor in its encoder units.
auto tarePosition() -> std::int32_t override
Sets the "absolute" zero position of the motor to its current position.
auto getTargetVelocity() -> std::int32_t override
Gets the velocity commanded to the motor by the user.
auto getActualVelocity() -> double override
Gets the actual velocity of the motor.
auto getCurrentDraw() -> std::int32_t override
Gets the current drawn by the motor in mA.
auto getDirection() -> std::int32_t override
Gets the direction of movement for the motor.
auto getEfficiency() -> double override
Gets the efficiency of the motor in percent.
auto isOverCurrent() -> std::int32_t override
Checks if the motor is drawing over its current limit.
auto isOverTemp() -> std::int32_t override
Checks if the motor's temperature is above its limit.
auto isStopped() -> std::int32_t override
Checks if the motor is stopped.
auto getZeroPositionFlag() -> std::int32_t override
Checks if the motor is at its zero position.
auto getFaults() -> uint32_t override
Gets the faults experienced by the motor.
auto getFlags() -> uint32_t override
Gets the flags set by the motor's operation.
auto getRawPosition(std::uint32_t* timestamp) -> std::int32_t override
Gets the raw encoder count of the motor at a given timestamp.
auto getPower() -> double override
Gets the power drawn by the motor in Watts.
auto getTemperature() -> double override
Gets the temperature of the motor in degrees Celsius.
auto getTorque() -> double override
Gets the torque generated by the motor in Newton Metres (Nm).
auto getVoltage() -> std::int32_t override
Gets the voltage delivered to the motor in millivolts.
auto setBrakeMode(AbstractMotor::brakeMode imode) -> std::int32_t override
Motor configuration functions.
auto getBrakeMode() -> brakeMode override
Gets the brake mode that was set for the motor.
auto setCurrentLimit(std::int32_t ilimit) -> std::int32_t override
Sets the current limit for the motor in mA.
auto getCurrentLimit() -> std::int32_t override
Gets the current limit for the motor in mA.
auto setEncoderUnits(AbstractMotor::encoderUnits iunits) -> std::int32_t override
Sets one of AbstractMotor::encoderUnits for the motor encoder.
auto getEncoderUnits() -> encoderUnits override
Gets the encoder units that were set for the motor.
auto setGearing(AbstractMotor::gearset igearset) -> std::int32_t override
Sets one of AbstractMotor::gearset for the motor.
auto getGearing() -> gearset override
Gets the gearset that was set for the motor.
auto setReversed(bool ireverse) -> std::int32_t override
Sets the reverse flag for the motor.
auto setVoltageLimit(std::int32_t ilimit) -> std::int32_t override
Sets the voltage limit for the motor in Volts.
auto setPosPID(double ikF, double ikP, double ikI, double ikD) -> std::int32_t virtual
Sets new PID constants.
auto setPosPIDFull(double ikF, double ikP, double ikI, double ikD, double ifilter, double ilimit, double ithreshold, double iloopSpeed) -> std::int32_t virtual
Sets new PID constants.
auto setVelPID(double ikF, double ikP, double ikI, double ikD) -> std::int32_t virtual
Sets new PID constants.
auto setVelPIDFull(double ikF, double ikP, double ikI, double ikD, double ifilter, double ilimit, double ithreshold, double iloopSpeed) -> std::int32_t virtual
Sets new PID constants.
auto getEncoder() -> std::shared_ptr<ContinuousRotarySensor> override
Get the encoder associated with this motor.
void controllerSet(double ivalue) override
Writes the value of the controller output.
auto getPort() const -> std::uint8_t
auto isReversed() const -> bool

Protected variables

std::uint8_t port
std::int8_t reversed

Function documentation

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.

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.

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

Motor movement functions.

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.

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().

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

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

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.

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.

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

Sets the velocity for the motor.

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.

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.

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

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.

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

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

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.

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

double okapi::Motor::getTargetPosition() override

Motor telemetry functions.

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

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

double okapi::Motor::getPosition() override

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.

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

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.

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

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.

double okapi::Motor::getActualVelocity() override

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.

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

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.

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

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.

double okapi::Motor::getEfficiency() override

Gets the efficiency of the motor in percent.

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

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.

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

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.

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

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.

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

Checks if the motor is stopped.

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

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.

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

Checks if the motor is at its zero position.

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

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.

uint32_t okapi::Motor::getFaults() override

Gets the faults experienced by the motor.

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

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

uint32_t okapi::Motor::getFlags() override

Gets the flags set by the motor's operation.

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

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

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

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.

double okapi::Motor::getPower() override

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.

double okapi::Motor::getTemperature() override

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.

double okapi::Motor::getTorque() override

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.

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

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.

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

Motor configuration functions.

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.

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

brakeMode okapi::Motor::getBrakeMode() override

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.

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

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.

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

Gets the current limit for the motor in mA.

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

The default value is 2500 mA.

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

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.

encoderUnits okapi::Motor::getEncoderUnits() override

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.

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

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.

gearset okapi::Motor::getGearing() override

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.

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

Sets the reverse flag for the motor.

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.

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

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

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.

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.

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.

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.

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.

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

Get the encoder associated with this motor.

Returns The encoder for this motor.

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

Writes the value of the controller output.

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

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

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

Returns The port number.

bool okapi::Motor::isReversed() const

Returns Whether this motor is reversed.