Mid level DMC60C Interface. More...

Inheritance diagram for DMC60C:

Public Member Functions
	DMC60C (int deviceNumber)
	Creates a DMC60C object for use in an open loop setup. More...

	DMC60C (int deviceNumber, double wheelDiametermm, double gearRatio, int encoderTicks)
	Creates a DMC60C object for use in a closed loop setup. More...

int	getDeviceNumber () const
	Get the device number associated with this DMC60C object. More...

void	configWheel (double wheelDiametermm, double gearRatio, int encoderTicks)
	Reconfigure the wheel attached to the DMC60C. More...

DMC_Code	configPID (unsigned int slot, float P, float I, float D, float F)
	Configures the PID and F constants for use in the closed loop. More...

DMC_Code	configClosedLoopRampRate (unsigned int slot, unsigned int rampRate)
	Sets the Closed Loop Ramp Rate for the specified PID slot. The closed loop ramp rate specifies the maximum number of throttle units the output can change by each time the control loop executes in closed loop control mode (Velocity, Position, or Current). For example, If the closed loop ramp rate is set to 1000 and the PID update function determines that the throttle should be increased by 5000 units then the immediate throttle increase will be limited to 1000 units. If the next PID Update doesn't change the target throttle output value, the throttle will be increased by another 1000 units the next time the control loop executes. This process will continue until the target throttle is reached or a new throttle value is calculated. The control loop executes once every 500 µs. Therefore, specifying a closed loop ramp rate of 16 would result in it taking approximately 1.02 seconds to go from 0% throttle (0) to 100% throttle (32767). Specifying a value of 0 for the closed loop ramp rate disables throttling and allows the output to be immediately set to the target value. This parameter is stored in nonvolatile memory and is preserved across power cycles. More...

void	configOpenLoopRampRate (unsigned short rampRate)
	Sets the Open Loop Ramp Rate. If a value of 0 is specified in the vltgRampSet field, then the output throttle will be immediately set to the target duty cycle the next time the control loop executes. If a non-zero value is specified in the vltgRampSet field, then the number of throttle units that the output can change by each time the control loop executes will be limited to the value that was specified. For example, if the output throttle is currently set to 5000, the trgt field specifies 10000, and the vltgRampSet field specifies 2500, then the control loop will need to execute twice before the output throttle is set to a target duty cycle of 10000. The control loop executes every 500 µs. In this example it may take up to 1 millisecond for the output throttle to be set to the target duty cycle. More...

DMC_Code	setContinuousCurrentLimit (double currentAmps)
	Sets the continuous current limit. This applies only if current limiting is enabled. The continuous current limit is the maximum current that can be drawn by the DMC60C AFTER the peak current limit has been hit for the peak current duration. If the continuous current limit is greater than or equal to the peak current limit, then the DMC60C will begin limiting the current immediately after the continuous current limit is exceeded. More...

DMC_Code	setPeakCurrentLimit (double currentAmps)
	Sets the peak current limit. This only applies if current limiting is enabled. The peak current is the max current that can be applied to the motor at any given time. This limit can be applied for up to [peak current duration] milliseconds. Afterwards the continuous current limit will be applied. If the peak current limit is set to a value lower than the continuous current limit, the DMC60C will apply the continuous current limit immediately after it detects that the continuous current limit has been exceeded. More...

DMC_Code	setPeakCurrentDuration (int durationMs)
	Sets the peak current duration. This only applies if current limiting is enabled. The peak current duration is the maximum amount of time the peak current can be applied to the motor. After this duration, the continuous current limit will be applied. If the duration is set to 0, the DMC60C will begin applying the continuous current limit immediately after the peak current limit has been exceeded. More...

DMC_Code	enableCurrentLimiting (bool enabled)
	Enables or disables current limiting mode. More...

ControlMode	getControlMode ()
	Returns the currently used control mode. More...

void	driveVoltage (double percentVoltage)
	Drive the motor using open loop voltage mode. More...

void	drivePosition (double revolutions)
	Drive the motor using closed loop position mode. This function uses the gearbox ratio and encoderticks values to set the position of the wheel and hold it there. The wheel's position is set to 0 at DMC60C power on. This position can also be reset using zeroEncoderPosition(). More...

void	driveDistance (double meters)
	Drive the motor using closed loop position mode. This function uses the wheel's diameter, gearbox ratio, and encoderticks values to set the position of the wheel and hold it there. The wheel's position is set to 0 at DMC60C power on. This position can also be reset using zeroEncoderPosition(). More...

void	driveVelocity (double metersPerSecond)
	Drive the motor using closed loop velocity mode. This function uses the wheel's diameter, gearbox ratio, and encoderticks values to set the velocity of the wheel and maintain that speed. More...

void	driveVoltageCompensation (double voltage)
	Drive the motor using open loop voltage compensation mode. This function applies the specified voltage to the motor. More...

void	driveCurrent (double currentAmps)
	Drive the motor using closed loop current mode. This mode drives the motor with a specific load current. More...

void	followerMode (int deviceNumbertoFollow)
	Sets the motor to slave follower mode. This mode behaves similar to voltage mode, however the duty cycle will be set to the master's duty cycle. More...

void	setPIDSlot (unsigned int slot)
	Sets the active PID slot. More...

float	getP (unsigned int slot)
	Retrieves the P gain value of the specified PID slot from the DMC60C. More...

float	getI (unsigned int slot)
	Retrieves the I gain value of the specified PID slot from the DMC60C. More...

float	getD (unsigned int slot)
	Retrieves the D gain value of the specified PID slot from the DMC60C. More...

float	getF (unsigned int slot)
	Retrieves the F gain value of the specified PID slot from the DMC60C. More...

double	getClosedLoopError ()
	Gets the current closed loop error from the DMC60C. This function can be used to help configure the PID values of a closed loop system. More...

void	setLimitSwitches (bool overrideEnable, bool forwardSwitchEnable, bool reverseSwitchEnable)
	Overrides the limit switch settings to the specified configuration. More...

bool	getFwdLimitSwitch ()
	Gets the current state of the forward limit switch pin. This does not require the limit switch to be active. More...

bool	getRevLimitSwitch ()
	Gets the current state of the reverse limit switch pin. This does not require the limit switch to be active. More...

bool	isFwdLimitSwitchActive ()
	Returns whether or not the forward limit switch is active or not. This will only return true if the limit switch is enabled and active. More...

bool	isRevLimitSwitchActive ()
	Returns whether or not the reverse limit switch is active or not. This will only return true if the limit switch is enabled and active. More...

LimitSwitch	getFwdLimitSwitchStatus ()
	Returns all information regarding the forward limit switch. More...

LimitSwitch	getRevLimitSwitchStatus ()
	Returns all information regarding the reverse limit switch. More...

bool	isCurrentLimitActive ()
	Returns whether or not the current limit is actively throttling the output current. More...

bool	isOverTempFaultActive ()
	Returns whether or not the over temperature fault is active. More...

bool	isUnderVoltageFaultActive ()
	Returns whether or not the under voltage fault is active. More...

bool	isGateDriveFaultActive ()
	Returns whether or not the Gate Driver fault is active. More...

void	setBrakeCoast (bool overrideEnable, bool brakeEnable)
	Overrides the brake/coast settings to the specified configuration. More...

float	getBusVoltage ()
	Reads the DMC60C's bus (battery) voltage. More...

float	getAIN1Voltage ()
	Reads the voltage applied to the AIN1 pin on the DMC60C. More...

float	getLoadCurrent ()
	Reads the load current of the DMC60C. This is the current that is running through the motor. More...

float	getAmbientTemp ()
	Reads the ambient temperature of the DMC60C. More...

DMC_Code	zeroEncoderPosition ()
	Resets the encoder position to 0. This is used in position control mode. More...

double	getRevolutionsTraveled ()
	Reads the number of revolutions the DMC60C has traveled relative to the encoder's zero position. More...

double	getDistanceTraveled ()
	Reads the distance the DMC60C has traveled relative to the encoder's zero position. More...

double	getMetersPerSecond ()
	Reads the current velocity in meters per second. More...

double	getCurrentDutyCycle () const
	Get the duty cycle that is currently applied the the motor. More...

int	getEncoderPositionCount ()
	Reads the current position count the DMC60C has logged from the encoder. More...

int	getEncoderVelocityCount ()
	Reads the current velocity count the DMC60C has logged from the encoder in the past 100ms. More...

void	disableMotor ()
	Disables the motor.

bool	isEnabled ()
	Checks to see if the motor is enabled. More...

void	invertEncoder (bool isInverted)
	Inverts the signals of the feedback sensor. This alleviates the need to swap the QEA and QEB signals when the quadrature encoder does not match that of the motor. More...

void	configPositionReset (bool resetOnFwdLimit, bool resetOnRevLimit, bool resetOnIndex)
	Configures the DMC60C to reset the position count when a limit switch is hit. More...

void	configIndexActiveEdge (bool edge)
	Configures the index pin on the DMC60C to trigger on rising or falling edge. More...

void	SetInverted (bool isInverted)
	Inverts the motor direction. More...

bool	GetInverted () const
	Returns whether or not the motor is inverted. More...

Protected Attributes
std::unique_ptr< DMC60LowLevel >	_DMC60LowLevel

int	_deviceNumber

double	_wheelDiametermm

double	_gearRatio

int	_encoderTicks

ControlMode	_controlMode

bool	_isEnabled

bool	_isMotorReversed

bool	_isEncoderReversed

Detailed Description

Mid level DMC60C Interface.

This class contains all of the mid level functions used to communicate with the DMC60C. This is used in Java, Labview and CPP implementations.

Constructor & Destructor Documentation

◆ DMC60C() [1/2]

DMC60C ( int deviceNumber = 0 )

Creates a DMC60C object for use in an open loop setup.

Parameters

deviceNumber The deviceNumber of the DMC60C Motor

◆ DMC60C() [2/2]

DMC60C	(	int	deviceNumber = `0`,
		double	wheelDiametermm,
		double	gearRatio,
		int	encoderTicks
	)

Creates a DMC60C object for use in a closed loop setup.

Parameters

deviceNumber	The deviceNumber of the DMC60C Motor
wheelDiametermm	The diameter of the wheel attached to the DMC60C in millimeters.
gearRatio	The ratio of the gearbox (EX: 12 if using a 12:1 gearbox)
encoderTicks	The number of pulses per channel per revolution on the quadrature encoder attached to the DMC60C motor.

Member Function Documentation

◆ getDeviceNumber()

int getDeviceNumber ( ) const

Get the device number associated with this DMC60C object.

Returns: Device number of this DMC60C object (0 - 64)

◆ configWheel()

void configWheel	(	double	wheelDiametermm,
		double	gearRatio,
		int	encoderTicks
	)

Reconfigure the wheel attached to the DMC60C.

Parameters

wheelDiametermm	The diameter of the wheel attached to the DMC60C in millimeters.
gearRatio	The ratio of the gearbox (EX: 12 if using a 12:1 gearbox)
encoderTicks	The number of pulses per channel per revolution on the quadrature encoder attached to the DMC60C motor.

◆ configPID()

DMC_Code configPID	(	unsigned int	slot,
		float	P,
		float	I,
		float	D,
		float	F
	)

Configures the PID and F constants for use in the closed loop.

Parameters

slot	0 to configure PID slot 0, 1 to configure slot 1
P	value to set P constant to
I	value to set I constant to
D	value to set D constant to
F	value to set F constant to

Returns: DMC_Code Status code

◆ configClosedLoopRampRate()

DMC_Code configClosedLoopRampRate	(	unsigned int	slot,
		unsigned int	rampRate
	)

Sets the Closed Loop Ramp Rate for the specified PID slot. The closed loop ramp rate specifies the maximum number of throttle units the output can change by each time the control loop executes in closed loop control mode (Velocity, Position, or Current). For example, If the closed loop ramp rate is set to 1000 and the PID update function determines that the throttle should be increased by 5000 units then the immediate throttle increase will be limited to 1000 units. If the next PID Update doesn't change the target throttle output value, the throttle will be increased by another 1000 units the next time the control loop executes. This process will continue until the target throttle is reached or a new throttle value is calculated. The control loop executes once every 500 µs. Therefore, specifying a closed loop ramp rate of 16 would result in it taking approximately 1.02 seconds to go from 0% throttle (0) to 100% throttle (32767). Specifying a value of 0 for the closed loop ramp rate disables throttling and allows the output to be immediately set to the target value. This parameter is stored in nonvolatile memory and is preserved across power cycles.

Parameters

slot	PID slot to configure
rampRate	value to set ramp rate to (0 - 32767). Lower values = slower ramp rate.

Returns: DMC_Code Status code

◆ configOpenLoopRampRate()

void configOpenLoopRampRate ( unsigned short rampRate )

Sets the Open Loop Ramp Rate. If a value of 0 is specified in the vltgRampSet field, then the output throttle will be immediately set to the target duty cycle the next time the control loop executes. If a non-zero value is specified in the vltgRampSet field, then the number of throttle units that the output can change by each time the control loop executes will be limited to the value that was specified. For example, if the output throttle is currently set to 5000, the trgt field specifies 10000, and the vltgRampSet field specifies 2500, then the control loop will need to execute twice before the output throttle is set to a target duty cycle of 10000. The control loop executes every 500 µs. In this example it may take up to 1 millisecond for the output throttle to be set to the target duty cycle.

Parameters

rampRate value to set ramp rate to (0 - 32767)

◆ setContinuousCurrentLimit()

DMC_Code setContinuousCurrentLimit ( double currentAmps )

Sets the continuous current limit. This applies only if current limiting is enabled. The continuous current limit is the maximum current that can be drawn by the DMC60C AFTER the peak current limit has been hit for the peak current duration. If the continuous current limit is greater than or equal to the peak current limit, then the DMC60C will begin limiting the current immediately after the continuous current limit is exceeded.

Parameters

currentAmps The continuous current limit to set in amps.

Returns: DMC_Code Status code

◆ setPeakCurrentLimit()

DMC_Code setPeakCurrentLimit ( double currentAmps )

Sets the peak current limit. This only applies if current limiting is enabled. The peak current is the max current that can be applied to the motor at any given time. This limit can be applied for up to [peak current duration] milliseconds. Afterwards the continuous current limit will be applied. If the peak current limit is set to a value lower than the continuous current limit, the DMC60C will apply the continuous current limit immediately after it detects that the continuous current limit has been exceeded.

Parameters

currentAmps The peak current limit to set in amps.

Returns: DMC_Code Status code

◆ setPeakCurrentDuration()

DMC_Code setPeakCurrentDuration ( int durationMs )

Sets the peak current duration. This only applies if current limiting is enabled. The peak current duration is the maximum amount of time the peak current can be applied to the motor. After this duration, the continuous current limit will be applied. If the duration is set to 0, the DMC60C will begin applying the continuous current limit immediately after the peak current limit has been exceeded.

Parameters

durationMs The peak current duration in milliseconds.

Returns: DMC_Code Status code

◆ enableCurrentLimiting()

DMC_Code enableCurrentLimiting ( bool enabled )

Enables or disables current limiting mode.

Parameters

enabled If true, enabled current limiting. If false, disables current limiting.

Returns: DMC_Code Status code

◆ getControlMode()

ControlMode getControlMode ( )

Returns the currently used control mode.

Returns: ControlMode The currently used control mode, as seen in the DMC60C general status packet.

◆ driveVoltage()

void driveVoltage ( double percentVoltage )

Drive the motor using open loop voltage mode.

Parameters

percentVoltage Percent to set the duty cycle of the motor to (-100.00 to 100.00)

◆ drivePosition()

void drivePosition ( double revolutions )

Drive the motor using closed loop position mode. This function uses the gearbox ratio and encoderticks values to set the position of the wheel and hold it there. The wheel's position is set to 0 at DMC60C power on. This position can also be reset using zeroEncoderPosition().

Parameters

revolutions Signed number of revolutions to turn the wheel relative to it's starting position.

◆ driveDistance()

void driveDistance ( double meters )

Drive the motor using closed loop position mode. This function uses the wheel's diameter, gearbox ratio, and encoderticks values to set the position of the wheel and hold it there. The wheel's position is set to 0 at DMC60C power on. This position can also be reset using zeroEncoderPosition().

Parameters

meters Signed distance to drive relative of the wheel's starting position.

◆ driveVelocity()

void driveVelocity ( double metersPerSecond )

Drive the motor using closed loop velocity mode. This function uses the wheel's diameter, gearbox ratio, and encoderticks values to set the velocity of the wheel and maintain that speed.

Parameters

metersPerSecond Speed to set the wheel to.

◆ driveVoltageCompensation()

void driveVoltageCompensation ( double voltage )

Drive the motor using open loop voltage compensation mode. This function applies the specified voltage to the motor.

Parameters

voltage Signed voltage to send to the motor. If the specified output voltage exceeds the input voltage, then the duty cycle is limited to 100% (or -100%).

◆ driveCurrent()

void driveCurrent ( double currentAmps )

Drive the motor using closed loop current mode. This mode drives the motor with a specific load current.

Parameters

currentAmps The desired current in amps.

◆ followerMode()

void followerMode ( int deviceNumbertoFollow )

Sets the motor to slave follower mode. This mode behaves similar to voltage mode, however the duty cycle will be set to the master's duty cycle.

Parameters

deviceNumbertoFollow Device number of the master DMC60C controller.

◆ setPIDSlot()

void setPIDSlot ( unsigned int slot )

Sets the active PID slot.

Parameters

slot	0 to use PID slot 0, 1 to use PID slot 1.

◆ getP()

float getP ( unsigned int slot )

Retrieves the P gain value of the specified PID slot from the DMC60C.

Parameters

slot	Which PID slot to get value from.

Returns: Value of the P gain.

◆ getI()

float getI ( unsigned int slot )

Retrieves the I gain value of the specified PID slot from the DMC60C.

Parameters

slot	Which PID slot to get value from.

Returns: Value of the I gain.

◆ getD()

float getD ( unsigned int slot )

Retrieves the D gain value of the specified PID slot from the DMC60C.

Parameters

slot	Which PID slot to get value from.

Returns: Value of the D gain.

◆ getF()

float getF ( unsigned int slot )

Retrieves the F gain value of the specified PID slot from the DMC60C.

Parameters

slot	Which PID slot to get value from.

Returns: Value of the F gain.

◆ getClosedLoopError()

double getClosedLoopError ( )

Gets the current closed loop error from the DMC60C. This function can be used to help configure the PID values of a closed loop system.

Returns: Value of the closed loop error. Depending on the mode, units can vary.

◆ setLimitSwitches()

void setLimitSwitches	(	bool	overrideEnable,
		bool	forwardSwitchEnable,
		bool	reverseSwitchEnable
	)

Overrides the limit switch settings to the specified configuration.

Parameters

overrideEnable	Enables the limit switch override. If disabled, the DMC60C will use the parameters stored in memory.
forwardSwitchEnable	Enables or disables the forward limit switch when override is enabled.
reverseSwitchEnable	Enables or disables the reverse limit switch when override is enabled.

◆ getFwdLimitSwitch()

bool getFwdLimitSwitch ( )

Gets the current state of the forward limit switch pin. This does not require the limit switch to be active.

Returns: The state of the limit switch pin.

◆ getRevLimitSwitch()

bool getRevLimitSwitch ( )

Gets the current state of the reverse limit switch pin. This does not require the limit switch to be active.

Returns: The state of the limit switch pin.

◆ isFwdLimitSwitchActive()

bool isFwdLimitSwitchActive ( )

Returns whether or not the forward limit switch is active or not. This will only return true if the limit switch is enabled and active.

Returns: True if limit switch is active, false if not.

◆ isRevLimitSwitchActive()

bool isRevLimitSwitchActive ( )

Returns whether or not the reverse limit switch is active or not. This will only return true if the limit switch is enabled and active.

Returns: True if limit switch is active, false if not.

◆ getFwdLimitSwitchStatus()

LimitSwitch getFwdLimitSwitchStatus ( )

Returns all information regarding the forward limit switch.

Returns: A struct containing the current status of the limit switch.

◆ getRevLimitSwitchStatus()

LimitSwitch getRevLimitSwitchStatus ( )

Returns all information regarding the reverse limit switch.

Returns: A struct containing the current status of the limit switch.

◆ isCurrentLimitActive()

bool isCurrentLimitActive ( )

Returns whether or not the current limit is actively throttling the output current.

Returns: True if current limit is active.

◆ isOverTempFaultActive()

bool isOverTempFaultActive ( )

Returns whether or not the over temperature fault is active.

Returns: True if there is an active over temperature fault.

◆ isUnderVoltageFaultActive()

bool isUnderVoltageFaultActive ( )

Returns whether or not the under voltage fault is active.

Returns: True if there is an active under voltage fault.

◆ isGateDriveFaultActive()

bool isGateDriveFaultActive ( )

Returns whether or not the Gate Driver fault is active.

Returns: True if there is an active gate driver fault.

◆ setBrakeCoast()

void setBrakeCoast	(	bool	overrideEnable,
		bool	brakeEnable
	)

Overrides the brake/coast settings to the specified configuration.

Parameters

overrideEnable	Enables the brake/coast override. If disabled, the DMC60C will use the parameters stored in memory.
brakeEnable	If true, DMC60C will brake when neutral throttle is applied. If false, DMC60C will coast when neutral throttle is applied.

◆ getBusVoltage()

float getBusVoltage ( )

Reads the DMC60C's bus (battery) voltage.

Returns: The input voltage applied to the DMC60C in volts.

◆ getAIN1Voltage()

float getAIN1Voltage ( )

Reads the voltage applied to the AIN1 pin on the DMC60C.

Returns: Voltage of the AIN1 pin in volts.

◆ getLoadCurrent()

float getLoadCurrent ( )

Reads the load current of the DMC60C. This is the current that is running through the motor.

Returns: Load current in amps.

◆ getAmbientTemp()

float getAmbientTemp ( )

Reads the ambient temperature of the DMC60C.

Returns: Ambient temperature of the DMC60C in degrees C.

◆ zeroEncoderPosition()

DMC_Code zeroEncoderPosition ( )

Resets the encoder position to 0. This is used in position control mode.

Returns: Status code

◆ getRevolutionsTraveled()

double getRevolutionsTraveled ( )

Reads the number of revolutions the DMC60C has traveled relative to the encoder's zero position.

Returns: Signed number of revolutions.

◆ getDistanceTraveled()

double getDistanceTraveled ( )

Reads the distance the DMC60C has traveled relative to the encoder's zero position.

Returns: Distance in meters.

◆ getMetersPerSecond()

double getMetersPerSecond ( )

Reads the current velocity in meters per second.

Returns: Velocity in meters per second.

◆ getCurrentDutyCycle()

double getCurrentDutyCycle ( ) const

Get the duty cycle that is currently applied the the motor.

Returns: Signed percent duty cycle.

◆ getEncoderPositionCount()

int getEncoderPositionCount ( )

Reads the current position count the DMC60C has logged from the encoder.

Returns: Signed position count.

◆ getEncoderVelocityCount()

int getEncoderVelocityCount ( )

Reads the current velocity count the DMC60C has logged from the encoder in the past 100ms.

Returns: Velocity count read from encoder.

◆ isEnabled()

bool isEnabled ( )

Checks to see if the motor is enabled.

Returns: True if enabled, false if not.

◆ invertEncoder()

void invertEncoder ( bool isInverted )

Inverts the signals of the feedback sensor. This alleviates the need to swap the QEA and QEB signals when the quadrature encoder does not match that of the motor.

Parameters

isInverted True to invert, false otherwise.

◆ configPositionReset()

void configPositionReset	(	bool	resetOnFwdLimit,
		bool	resetOnRevLimit,
		bool	resetOnIndex
	)

Configures the DMC60C to reset the position count when a limit switch is hit.

Parameters

resetOnFwdLimit	True to reset the position count when fwd limit goes active.
resetOnRevLimit	True to reset the position count when rev limit goes active.
resetOnIndex	True to reset the position count when index pin goes active.

◆ configIndexActiveEdge()

void configIndexActiveEdge ( bool edge )

Configures the index pin on the DMC60C to trigger on rising or falling edge.

Parameters

edge	True to set active edge to rising edge, false for falling edge.

◆ SetInverted()

void SetInverted ( bool isInverted )

Inverts the motor direction.

Parameters

isInverted If true, motor will spin in reverse direction.

◆ GetInverted()

bool GetInverted ( ) const

Returns whether or not the motor is inverted.

Returns: True if motor is inverted, false otherwise.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DMC60C() [1/2]

◆ DMC60C() [2/2]

Member Function Documentation

◆ getDeviceNumber()

◆ configWheel()

◆ configPID()

◆ configClosedLoopRampRate()

◆ configOpenLoopRampRate()

◆ setContinuousCurrentLimit()

◆ setPeakCurrentLimit()

◆ setPeakCurrentDuration()

◆ enableCurrentLimiting()

◆ getControlMode()

◆ driveVoltage()

◆ drivePosition()

◆ driveDistance()

◆ driveVelocity()

◆ driveVoltageCompensation()

◆ driveCurrent()

◆ followerMode()

◆ setPIDSlot()

◆ getP()

◆ getI()

◆ getD()

◆ getF()

◆ getClosedLoopError()

◆ setLimitSwitches()

◆ getFwdLimitSwitch()

◆ getRevLimitSwitch()

◆ isFwdLimitSwitchActive()

◆ isRevLimitSwitchActive()

◆ getFwdLimitSwitchStatus()

◆ getRevLimitSwitchStatus()

◆ isCurrentLimitActive()

◆ isOverTempFaultActive()

◆ isUnderVoltageFaultActive()

◆ isGateDriveFaultActive()

◆ setBrakeCoast()

◆ getBusVoltage()

◆ getAIN1Voltage()

◆ getLoadCurrent()

◆ getAmbientTemp()

◆ zeroEncoderPosition()

◆ getRevolutionsTraveled()

◆ getDistanceTraveled()

◆ getMetersPerSecond()

◆ getCurrentDutyCycle()

◆ getEncoderPositionCount()

◆ getEncoderVelocityCount()

◆ isEnabled()

◆ invertEncoder()

◆ configPositionReset()

◆ configIndexActiveEdge()

◆ SetInverted()

◆ GetInverted()