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WPILibC++
2020.3.2
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A class that enforces constraints on the differential drive kinematics. More...
Namespaces | |
| filesystem | |
| WPILib FileSystem namespace. | |
Classes | |
| class | Accelerometer |
| Interface for 3-axis accelerometers. More... | |
| class | AddressableLED |
| A class for driving addressable LEDs, such as WS2812s and NeoPixels. More... | |
| class | ADXL345_I2C |
| ADXL345 Accelerometer on I2C. More... | |
| class | ADXL345_SPI |
| ADXL345 Accelerometer on SPI. More... | |
| class | ADXL362 |
| ADXL362 SPI Accelerometer. More... | |
| class | ADXRS450_Gyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | AnalogAccelerometer |
| Handle operation of an analog accelerometer. More... | |
| class | AnalogEncoder |
| Class for supporting continuous analog encoders, such as the US Digital MA3. More... | |
| class | AnalogGyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | AnalogInput |
| Analog input class. More... | |
| class | AnalogOutput |
| MXP analog output class. More... | |
| class | AnalogPotentiometer |
| Class for reading analog potentiometers. More... | |
| class | AnalogTrigger |
| class | AnalogTriggerOutput |
| Class to represent a specific output from an analog trigger. More... | |
| class | ArmFeedforward |
| A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle). More... | |
| class | BuiltInAccelerometer |
| Built-in accelerometer. More... | |
| class | Button |
| This class provides an easy way to link commands to OI inputs. More... | |
| class | ButtonScheduler |
| class | CameraServer |
| Singleton class for creating and keeping camera servers. More... | |
| class | CameraServerShared |
| class | CAN |
| High level class for interfacing with CAN devices conforming to the standard CAN spec. More... | |
| class | CancelButtonScheduler |
| struct | CANData |
| struct | CANStatus |
| class | CentripetalAccelerationConstraint |
| A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More... | |
| struct | ChassisSpeeds |
| Represents the speed of a robot chassis. More... | |
| class | Color |
| Represents colors that can be used with Addressable LEDs. More... | |
| class | Color8Bit |
| Represents colors that can be used with Addressable LEDs. More... | |
| class | Command |
| The Command class is at the very core of the entire command framework. More... | |
| class | CommandGroup |
| A CommandGroup is a list of commands which are executed in sequence. More... | |
| class | CommandGroupEntry |
| class | ComplexWidget |
| A Shuffleboard widget that handles a Sendable object such as a speed controller or sensor. More... | |
| class | Compressor |
| Class for operating a compressor connected to a PCM (Pneumatic Control Module). More... | |
| class | ConditionalCommand |
| A ConditionalCommand is a Command that starts one of two commands. More... | |
| class | Controller |
| Interface for Controllers. More... | |
| class | Counter |
| Class for counting the number of ticks on a digital input channel. More... | |
| class | CounterBase |
| Interface for counting the number of ticks on a digital input channel. More... | |
| class | CubicHermiteSpline |
| Represents a hermite spline of degree 3. More... | |
| class | DifferentialDrive |
| A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive base, "tank drive", or West Coast Drive. More... | |
| class | DifferentialDriveKinematics |
| Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. More... | |
| class | DifferentialDriveKinematicsConstraint |
| class | DifferentialDriveOdometry |
| Class for differential drive odometry. More... | |
| class | DifferentialDriveVoltageConstraint |
| A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. More... | |
| struct | DifferentialDriveWheelSpeeds |
| Represents the wheel speeds for a differential drive drivetrain. More... | |
| class | DigitalGlitchFilter |
| Class to enable glitch filtering on a set of digital inputs. More... | |
| class | DigitalInput |
| Class to read a digital input. More... | |
| class | DigitalOutput |
| Class to write to digital outputs. More... | |
| class | DigitalSource |
| DigitalSource Interface. More... | |
| class | DMA |
| class | DMASample |
| class | DMC60 |
| Digilent DMC 60 Speed Controller. More... | |
| class | DoubleSolenoid |
| DoubleSolenoid class for running 2 channels of high voltage Digital Output (PCM). More... | |
| class | DriverStation |
| Provide access to the network communication data to / from the Driver Station. More... | |
| class | DutyCycle |
| Class to read a duty cycle PWM input. More... | |
| class | DutyCycleEncoder |
| Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More... | |
| class | ElevatorFeedforward |
| A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). More... | |
| class | Encoder |
| Class to read quad encoders. More... | |
| class | Error |
| Error object represents a library error. More... | |
| class | ErrorBase |
| Base class for most objects. More... | |
| class | Field2d |
| 2D representation of game field (for simulation). More... | |
| class | Filter |
| Interface for filters. More... | |
| class | GearTooth |
| Alias for counter class. More... | |
| class | GenericHID |
| GenericHID Interface. More... | |
| class | Gyro |
| Interface for yaw rate gyros. More... | |
| class | GyroBase |
| GyroBase is the common base class for Gyro implementations such as AnalogGyro. More... | |
| class | HeldButtonScheduler |
| class | I2C |
| I2C bus interface class. More... | |
| class | InstantCommand |
| This command will execute once, then finish immediately afterward. More... | |
| class | InternalButton |
| class | InterruptableSensorBase |
| class | IterativeRobot |
| IterativeRobot implements the IterativeRobotBase robot program framework. More... | |
| class | IterativeRobotBase |
| IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More... | |
| class | Jaguar |
| Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control. More... | |
| class | Joystick |
| Handle input from standard Joysticks connected to the Driver Station. More... | |
| class | JoystickButton |
| class | KilloughDrive |
| A class for driving Killough drive platforms. More... | |
| class | LayoutType |
| Represents the type of a layout in Shuffleboard. More... | |
| class | LinearDigitalFilter |
| This class implements a linear, digital filter. More... | |
| class | LinearFilter |
| This class implements a linear, digital filter. More... | |
| class | LiveWindow |
| The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow. More... | |
| class | MecanumDrive |
| A class for driving Mecanum drive platforms. More... | |
| class | MecanumDriveKinematics |
| Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More... | |
| class | MecanumDriveKinematicsConstraint |
| class | MecanumDriveOdometry |
| Class for mecanum drive odometry. More... | |
| struct | MecanumDriveWheelSpeeds |
| Represents the wheel speeds for a mecanum drive drivetrain. More... | |
| class | MedianFilter |
| A class that implements a moving-window median filter. More... | |
| class | MotorSafety |
| This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires. More... | |
| class | NetworkButton |
| class | NidecBrushless |
| Nidec Brushless Motor. More... | |
| class | Notifier |
| struct | NullDeleter |
| class | PIDBase |
| Class implements a PID Control Loop. More... | |
| class | PIDCommand |
| class | PIDController |
| Class implements a PID Control Loop. More... | |
| class | PIDInterface |
| class | PIDOutput |
| PIDOutput interface is a generic output for the PID class. More... | |
| class | PIDSource |
| PIDSource interface is a generic sensor source for the PID class. More... | |
| class | PIDSubsystem |
| This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height). More... | |
| class | Pose2d |
| Represents a 2d pose containing translational and rotational elements. More... | |
| class | Potentiometer |
| Interface for potentiometers. More... | |
| class | POVButton |
| class | PowerDistributionPanel |
| Class for getting voltage, current, temperature, power and energy from the CAN PDP. More... | |
| class | Preferences |
| The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted. More... | |
| class | PressedButtonScheduler |
| class | PrintCommand |
| class | ProfiledPIDController |
| Implements a PID control loop whose setpoint is constrained by a trapezoid profile. More... | |
| class | PWM |
| Class implements the PWM generation in the FPGA. More... | |
| class | PWMSparkMax |
| REV Robotics SPARK MAX Speed Controller. More... | |
| class | PWMSpeedController |
| Common base class for all PWM Speed Controllers. More... | |
| class | PWMTalonFX |
| Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control. More... | |
| class | PWMTalonSRX |
| Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control. More... | |
| class | PWMVenom |
| Playing with Fusion Venom Smart Motor with PWM control. More... | |
| class | PWMVictorSPX |
| Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control. More... | |
| class | QuinticHermiteSpline |
| Represents a hermite spline of degree 5. More... | |
| class | RamseteController |
| Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory. More... | |
| class | Relay |
| Class for Spike style relay outputs. More... | |
| class | ReleasedButtonScheduler |
| class | Resource |
| The Resource class is a convenient way to track allocated resources. More... | |
| class | RobotBase |
| Implement a Robot Program framework. More... | |
| class | RobotController |
| class | RobotDrive |
| Utility class for handling Robot drive based on a definition of the motor configuration. More... | |
| class | RobotDriveBase |
| Common base class for drive platforms. More... | |
| class | RobotState |
| class | Rotation2d |
| A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). More... | |
| class | Scheduler |
| class | SD540 |
| Mindsensors SD540 Speed Controller. More... | |
| class | Sendable |
| Interface for Sendable objects. More... | |
| class | SendableBase |
| class | SendableBuilder |
| class | SendableBuilderImpl |
| class | SendableCameraWrapper |
| A wrapper to make video sources sendable and usable from Shuffleboard. More... | |
| class | SendableChooser |
| The SendableChooser class is a useful tool for presenting a selection of options to the SmartDashboard. More... | |
| class | SendableChooserBase |
| This class is a non-template base class for SendableChooser. More... | |
| class | SendableHelper |
| A helper class for use with objects that add themselves to SendableRegistry. More... | |
| class | SendableRegistry |
| The SendableRegistry class is the public interface for registering sensors and actuators for use on dashboards and LiveWindow. More... | |
| class | SensorUtil |
| Stores most recent status information as well as containing utility functions for checking channels and error processing. More... | |
| class | SerialPort |
| Driver for the RS-232 serial port on the roboRIO. More... | |
| class | Servo |
| Standard hobby style servo. More... | |
| class | Shuffleboard |
| The Shuffleboard class provides a mechanism with which data can be added and laid out in the Shuffleboard dashboard application from a robot program. More... | |
| class | ShuffleboardComponent |
| A generic component in Shuffleboard. More... | |
| class | ShuffleboardComponentBase |
| A shim class to allow storing ShuffleboardComponents in arrays. More... | |
| class | ShuffleboardContainer |
| Common interface for objects that can contain shuffleboard components. More... | |
| class | ShuffleboardLayout |
| A layout in a Shuffleboard tab. More... | |
| class | ShuffleboardRoot |
| The root of the data placed in Shuffleboard. More... | |
| class | ShuffleboardTab |
| Represents a tab in the Shuffleboard dashboard. More... | |
| class | ShuffleboardValue |
| class | ShuffleboardWidget |
| Abstract superclass for widgets. More... | |
| class | SimpleMotorFeedforward |
| A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. More... | |
| class | SimpleWidget |
| A Shuffleboard widget that handles a single data point such as a number or string. More... | |
| class | SlewRateLimiter |
| A class that limits the rate of change of an input value. More... | |
| class | SmartDashboard |
| class | Solenoid |
| Solenoid class for running high voltage Digital Output (PCM). More... | |
| class | SolenoidBase |
| SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes. More... | |
| class | Spark |
| REV Robotics SPARK Speed Controller. More... | |
| class | SpeedController |
| Interface for speed controlling devices. More... | |
| class | SpeedControllerGroup |
| class | SPI |
| SPI bus interface class. More... | |
| class | Spline |
| Represents a two-dimensional parametric spline that interpolates between two points. More... | |
| class | SplineHelper |
| Helper class that is used to generate cubic and quintic splines from user provided waypoints. More... | |
| class | SplineParameterizer |
| Class used to parameterize a spline by its arc length. More... | |
| class | StartCommand |
| class | Subsystem |
| class | SuppliedValueWidget |
| class | SwerveDriveKinematics |
| Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). More... | |
| class | SwerveDriveKinematicsConstraint |
| class | SwerveDriveOdometry |
| Class for swerve drive odometry. More... | |
| struct | SwerveModuleState |
| Represents the state of one swerve module. More... | |
| class | Talon |
| Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller. More... | |
| class | TimedCommand |
| A TimedCommand will wait for a timeout before finishing. More... | |
| class | TimedRobot |
| TimedRobot implements the IterativeRobotBase robot program framework. More... | |
| class | Timer |
| Timer objects measure accumulated time in seconds. More... | |
| class | ToggleButtonScheduler |
| class | Trajectory |
| Represents a time-parameterized trajectory. More... | |
| class | TrajectoryConfig |
| Represents the configuration for generating a trajectory. More... | |
| class | TrajectoryConstraint |
| An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More... | |
| class | TrajectoryGenerator |
| Helper class used to generate trajectories with various constraints. More... | |
| class | TrajectoryParameterizer |
| Class used to parameterize a trajectory by time. More... | |
| class | TrajectoryUtil |
| class | Transform2d |
| Represents a transformation for a Pose2d. More... | |
| class | Translation2d |
| Represents a translation in 2d space. More... | |
| class | TrapezoidProfile |
| A trapezoid-shaped velocity profile. More... | |
| class | Trigger |
| This class provides an easy way to link commands to inputs. More... | |
| struct | Twist2d |
| A change in distance along arc since the last pose update. More... | |
| class | Ultrasonic |
| Ultrasonic rangefinder class. More... | |
| struct | Vector2d |
| This is a 2D vector struct that supports basic vector operations. More... | |
| class | Victor |
| Vex Robotics Victor 888 Speed Controller. More... | |
| class | VictorSP |
| Vex Robotics Victor SP Speed Controller. More... | |
| class | VisionPipeline |
| A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an image. More... | |
| class | VisionRunner |
| A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. More... | |
| class | VisionRunnerBase |
| Non-template base class for VisionRunner. More... | |
| class | WaitCommand |
| class | WaitForChildren |
| class | WaitUntilCommand |
| class | Watchdog |
| A class that's a wrapper around a watchdog timer. More... | |
| class | WidgetType |
| Represents the type of a widget in Shuffleboard. More... | |
| class | XboxController |
| Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station. More... | |
Typedefs | |
| using | curvature_t = units::unit_t< units::compound_unit< units::radian, units::inverse< units::meter > >> |
| Define a unit for curvature. | |
Functions | |
| CameraServerShared * | GetCameraServerShared () |
| void | to_json (wpi::json &json, const Trajectory::State &state) |
| void | from_json (const wpi::json &json, Trajectory::State &state) |
| int | GetThreadPriority (std::thread &thread, bool *isRealTime) |
| Get the thread priority for the specified thread. More... | |
| int | GetCurrentThreadPriority (bool *isRealTime) |
| Get the thread priority for the current thread. More... | |
| bool | SetThreadPriority (std::thread &thread, bool realTime, int priority) |
| Sets the thread priority for the specified thread. More... | |
| bool | SetCurrentThreadPriority (bool realTime, int priority) |
| Sets the thread priority for the current thread. More... | |
| wpi::StringRef | ShuffleboardEventImportanceName (ShuffleboardEventImportance importance) |
| void | Wait (double seconds) |
| Pause the task for a specified time. More... | |
| double | GetTime () |
| Gives real-time clock system time with nanosecond resolution. More... | |
| bool | operator== (const Color8Bit &c1, const Color8Bit &c2) |
| bool | operator== (const Color &c1, const Color &c2) |
| template<class... Wheels> | |
| SwerveDriveKinematics (Translation2d, Wheels...) -> SwerveDriveKinematics< 1+sizeof...(Wheels)> | |
| void | to_json (wpi::json &json, const Rotation2d &rotation) |
| void | from_json (const wpi::json &json, Rotation2d &rotation) |
| void | to_json (wpi::json &json, const Translation2d &state) |
| void | from_json (const wpi::json &json, Translation2d &state) |
| void | to_json (wpi::json &json, const Pose2d &pose) |
| void | from_json (const wpi::json &json, Pose2d &pose) |
| int | RunHALInitialization () |
| template<class Robot > | |
| int | StartRobot () |
A class that enforces constraints on the differential drive kinematics.
WPILib FRC namespace.
This can be used to ensure that the trajectory is constructed so that the commanded velocities for both sides of the drivetrain stay below a certain limit.
|
strong |
The types of layouts bundled with Shuffleboard.
ShuffleboardLayout myList = Shuffleboard::GetTab("My Tab")
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strong |
The types of the widgets bundled with Shuffleboard.
For example, setting a number to be displayed with a slider:
NetworkTableEntry example = Shuffleboard.getTab("My Tab").add("My Number", 0).withWidget(BuiltInWidgets.kNumberSlider).getEntry();
Each value in this enum goes into detail on what data types that widget can support, as well as the custom properties that widget uses.
| Enumerator | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| kTextView | Displays a value with a simple text field.
| ||||||||||||||||||||||||
| kNumberSlider | Displays a number with a controllable slider.
| ||||||||||||||||||||||||
| kNumberBar | Displays a number with a view-only bar.
| ||||||||||||||||||||||||
| kDial | Displays a number with a view-only dial. Displayed values are rounded to the nearest integer.
| ||||||||||||||||||||||||
| kGraph | Displays a number with a graph. NOTE: graphs can be taxing on the computer running the dashboard. Keep the number of visible data points to a minimum. Making the widget smaller also helps with performance, but may cause the graph to become difficult to read.
| ||||||||||||||||||||||||
| kBooleanBox | Displays a boolean value as a large colored box.
| ||||||||||||||||||||||||
| kToggleButton | Displays a boolean with a large interactive toggle button.
| ||||||||||||||||||||||||
| kToggleSwitch | Displays a boolean with a fixed-size toggle switch.
| ||||||||||||||||||||||||
| kVoltageView | Displays an analog input or a raw number with a number bar.
| ||||||||||||||||||||||||
| kPowerDistributionPanel | Displays a PowerDistributionPanel.
| ||||||||||||||||||||||||
| kComboBoxChooser | Displays a SendableChooser with a dropdown combo box with a list of options.
| ||||||||||||||||||||||||
| kSplitButtonChooser | Displays a SendableChooserwith a toggle button for each available option.
| ||||||||||||||||||||||||
| kEncoder | Displays an Encoder displaying its speed, total traveled distance, and its distance per tick.
| ||||||||||||||||||||||||
| kSpeedController | Displays a SpeedController. The speed controller will be controllable from the dashboard when test mode is enabled, but will otherwise be view-only.
| ||||||||||||||||||||||||
| kCommand | Displays a command with a toggle button. Pressing the button will start the command, and the button will automatically release when the command completes.
| ||||||||||||||||||||||||
| kPIDCommand | Displays a PID command with a checkbox and an editor for the PIDF constants. Selecting the checkbox will start the command, and the checkbox will automatically deselect when the command completes.
| ||||||||||||||||||||||||
| kPIDController | Displays a PID controller with an editor for the PIDF constants and a toggle switch for enabling and disabling the controller.
| ||||||||||||||||||||||||
| kAccelerometer | Displays an accelerometer with a number bar displaying the magnitude of the acceleration and text displaying the exact value.
| ||||||||||||||||||||||||
| k3AxisAccelerometer | Displays a 3-axis accelerometer with a number bar for each axis' acceleration.
| ||||||||||||||||||||||||
| kGyro | Displays a gyro with a dial from 0 to 360 degrees.
| ||||||||||||||||||||||||
| kRelay | Displays a relay with toggle buttons for each supported mode (off, on, forward, reverse).
| ||||||||||||||||||||||||
| kDifferentialDrive | Displays a differential drive with a widget that displays the speed of each side of the drivebase and a vector for the direction and rotation of the drivebase. The widget will be controllable if the robot is in test mode.
| ||||||||||||||||||||||||
| kMecanumDrive | Displays a mecanum drive with a widget that displays the speed of each wheel, and vectors for the direction and rotation of the drivebase. The widget will be controllable if the robot is in test mode.
| ||||||||||||||||||||||||
| kCameraStream | Displays a camera stream.
| ||||||||||||||||||||||||
| int frc::GetCurrentThreadPriority | ( | bool * | isRealTime | ) |
Get the thread priority for the current thread.
| isRealTime | Set to true if thread is realtime, otherwise false. |
| int frc::GetThreadPriority | ( | std::thread & | thread, |
| bool * | isRealTime | ||
| ) |
Get the thread priority for the specified thread.
| thread | Reference to the thread to get the priority for. |
| isRealTime | Set to true if thread is realtime, otherwise false. |
| double frc::GetTime | ( | ) |
Gives real-time clock system time with nanosecond resolution.
| bool frc::SetCurrentThreadPriority | ( | bool | realTime, |
| int | priority | ||
| ) |
Sets the thread priority for the current thread.
| realTime | Set to true to set a realtime priority, false for standard priority. |
| priority | Priority to set the thread to. Scaled 1-99, with 1 being highest. On RoboRIO, priority is ignored for non realtime setting. |
| bool frc::SetThreadPriority | ( | std::thread & | thread, |
| bool | realTime, | ||
| int | priority | ||
| ) |
Sets the thread priority for the specified thread.
| thread | Reference to the thread to set the priority of. |
| realTime | Set to true to set a realtime priority, false for standard priority. |
| priority | Priority to set the thread to. Scaled 1-99, with 1 being highest. On RoboRIO, priority is ignored for non realtime setting. |
| void frc::Wait | ( | double | seconds | ) |
Pause the task for a specified time.
Pause the execution of the program for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.
| seconds | Length of time to pause, in seconds. |