Cpp-motor-telemetry module
Contents
- Reference
These functions allow programmers to collect telemetry from motors
Modules
- module Cpp-motor-configuration
Motor telemetry functions
- double get_actual_velocity(const std::uint8_t index = 0) const pure virtual
- Gets the actual velocity of the motor.
- std::vector<double> get_actual_velocity_all(void) const pure virtual
- Gets a vector containing the actual velocity/velocities of the motor(s)
- std::int32_t get_current_draw(const std::uint8_t index = 0) const pure virtual
- Gets the current drawn by the motor in mA.
- std::vector<std::int32_t> get_current_draw_all(void) const pure virtual
- Gets a vector containing the current(s) drawn by the motor(s) in mA.
- std::int32_t get_direction(const std::uint8_t index = 0) const pure virtual
- Gets the direction of movement for the motor.
- std::vector<std::int32_t> get_direction_all(void) const pure virtual
- Gets a vector containing the direction(s) of movement for the motor(s).
- double get_efficiency(const std::uint8_t index = 0) const pure virtual
- Gets the efficiency of the motor in percent.
- std::vector<double> get_efficiency_all(void) const pure virtual
- Gets a vector containing the efficiency/efficiencies of the motor(s) in percent.
- std::uint32_t get_faults(const std::uint8_t index = 0) const pure virtual
- Gets the faults experienced by the motor.
- std::vector<std::uint32_t> get_faults_all(void) const pure virtual
- Gets a vector of the faults experienced by the motor(s).
- std::uint32_t get_flags(const std::uint8_t index = 0) const pure virtual
- Gets the flags set by the motor's operation.
- std::vector<std::uint32_t> get_flags_all(void) const pure virtual
- Gets a vector of the flags set by the motor's/motors' operation.
- double get_position(const std::uint8_t index = 0) const pure virtual
- Gets the absolute position of the motor in its encoder units.
- std::vector<double> get_position_all(void) const pure virtual
- Gets a vector containing the absolute position(s) of the motor(s) in its encoder units.
- double get_power(const std::uint8_t index = 0) const pure virtual
- Gets the power drawn by the motor in Watts.
- std::vector<double> get_power_all(void) const pure virtual
- Gets a vector containing the power(s) drawn by the motor(s) in Watts.
- std::int32_t get_raw_position(std::uint32_t*const timestamp, const std::uint8_t index = 0) const pure virtual
- Gets the raw encoder count of the motor at a given timestamp.
- std::vector<std::int32_t> get_raw_position_all(std::uint32_t*const timestamp) const pure virtual
- Gets a vector of the raw encoder count(s) of the motor(s) at a given timestamp.
- double get_temperature(const std::uint8_t index = 0) const pure virtual
- Gets the temperature of the motor in degrees Celsius.
- std::vector<double> get_temperature_all(void) const pure virtual
- Gets a vector of the temperature(s) of the motor(s) in degrees Celsius.
- double get_torque(const std::uint8_t index = 0) const pure virtual
- Gets the torque generated by the motor in Newton Meters (Nm).
- std::vector<double> get_torque_all(void) const pure virtual
- Gets a vector of the torque(s) generated by the motor(s) in Newton Meters (Nm).
- std::int32_t get_voltage(const std::uint8_t index = 0) const pure virtual
- Gets the voltage delivered to the motor in millivolts.
- std::vector<std::int32_t> get_voltage_all(void) const pure virtual
- Gets a vector of the voltage(s) delivered to the motor(s) in millivolts.
- std::int32_t is_over_current(const std::uint8_t index = 0) const pure virtual
- Checks if the motor is drawing over its current limit.
- std::vector<std::int32_t> is_over_current_all(void) const pure virtual
- Gets a vector of whether each motor is drawing over its current limit.
- std::int32_t is_over_temp(const std::uint8_t index = 0) const pure virtual
- Gets the temperature limit flag for the motor.
- std::vector<std::int32_t> is_over_temp_all(void) const pure virtual
- Gets a vector of the temperature limit flag(s) for the motor(s).
Function documentation
double get_actual_velocity(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the actual velocity of the motor.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's actual velocity in RPM or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_actual_velocity_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the actual velocity/velocities of the motor(s)
| Returns | A vector containing the motor's/motors' actual velocity/velocities in RPM or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::int32_t get_current_draw(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the current drawn by the motor in mA.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's current in mA or PROS_ERR if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> get_current_draw_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the current(s) drawn by the motor(s) in mA.
| Returns | A vector conatining the motor's/motors' current(s) in mA or PROS_ERR if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
std::int32_t get_direction(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the direction of movement for the motor.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> get_direction_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the direction(s) of movement for the motor(s).
| Returns | A vector containing 1 for moving in the positive direction, -1 for moving in the negative direction, and PROS_ERR if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
double get_efficiency(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the efficiency of the motor in percent.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| 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.
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_efficiency_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the efficiency/efficiencies of the motor(s) in percent.
| Returns | A vector containing the motor's/motors' efficiency/efficiencies 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.
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
std::uint32_t get_faults(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the faults experienced by the motor.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | A bitfield containing the motor's faults. |
Compare this bitfield to the bitmasks in pros::motor_fault_e_t.
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::uint32_t> get_faults_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the faults experienced by the motor(s).
| Returns | A bitfield containing the motor's/motors' faults. |
|---|
Compare this bitfield to the bitmasks in pros::motor_fault_e_t.
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
std::uint32_t get_flags(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the flags set by the motor's operation.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | A bitfield containing the motor's flags. |
Compare this bitfield to the bitmasks in pros::motor_flag_e_t.
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::uint32_t> get_flags_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the flags set by the motor's/motors' operation.
| Returns | A bitfield containing the motor's/motors' flags. |
|---|
Compare this bitfield to the bitmasks in pros::motor_flag_e_t.
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
double get_position(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the absolute position of the motor in its encoder units.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's absolute position in its encoder units or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_position_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the absolute position(s) of the motor(s) in its encoder units.
| Returns | A vector containing the motor's/motors' absolute position(s) in its encoder units or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
double get_power(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the power drawn by the motor in Watts.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's power draw in Watts or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_power_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector containing the power(s) drawn by the motor(s) in Watts.
| Returns | A vector containing the motor's/motors' power draw in Watts or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
std::int32_t get_raw_position(std::uint32_t*const timestamp,
const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the raw encoder count of the motor at a given timestamp.
| Parameters | |
|---|---|
| timestamp in | 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 |
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The raw encoder count at the given timestamp or PROS_ERR if the operation failed. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> get_raw_position_all(std::uint32_t*const timestamp) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the raw encoder count(s) of the motor(s) 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 | A vector containing the raw encoder count(s) at the given timestamp or PROS_ERR if the operation failed. |
This function uses the following values of errno when an error state is reached:
ENODEV - The port cannot be configured as a motor
double get_temperature(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the temperature of the motor in degrees Celsius.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's temperature in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_temperature_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the temperature(s) of the motor(s) in degrees Celsius.
| Returns | A vector containing the motor's/motors' temperature(s) in degrees Celsius or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
double get_torque(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the torque generated by the motor in Newton Meters (Nm).
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's torque in Nm or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<double> get_torque_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the torque(s) generated by the motor(s) in Newton Meters (Nm).
| Returns | A vector containing the motor's/motors' torque(s) in Nm or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::int32_t get_voltage(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the voltage delivered to the motor in millivolts.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | The motor's voltage in mV or PROS_ERR_F if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> get_voltage_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the voltage(s) delivered to the motor(s) in millivolts.
| Returns | A vector containing the motor's/motors' voltage(s) in mV or PROS_ERR_F if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::int32_t is_over_current(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Checks if the motor is drawing over its current limit.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| 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. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> is_over_current_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of whether each 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. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::int32_t is_over_temp(const std::uint8_t index = 0) const pure virtual
#include <pros/abstract_motor.hpp>
Gets the temperature limit flag for the motor.
| Parameters | |
|---|---|
| index | Optional parameter. The index of the motor to get the target position of. By default index is 0, and will return an error for an out of bounds index |
| Returns | 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. |
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor
std::vector<std::int32_t> is_over_temp_all(void) const pure virtual
#include <pros/abstract_motor.hpp>
Gets a vector of the temperature limit flag(s) for the motor(s).
| Returns | 1 if the temperature limit is exceeded and 0 if the temperature is below the limit, or PROS_ERR if the operation failed, setting errno. |
|---|
This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a motor