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[docs] Fix docs for SysID routine (#6164)

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Eli Barnett
2024-01-06 01:05:09 -05:00
committed by GitHub
parent 0a46a3a618
commit a2e4d0b15d
4 changed files with 298 additions and 220 deletions
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78
wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
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@@ -46,46 +46,112 @@ class SysIdRoutineLog {
using LogEntries = wpi::StringMap<MotorEntries>;
public:
/** Logs data from a single motor during a SysIdRoutine. */
class MotorLog {
public:
MotorLog(std::string_view motorName, std::string_view logName,
LogEntries* logEntries);
/**
* Log a generic data value from the motor.
*
* @param name The name of the data field being recorded.
* @param value The numeric value of the data field.
* @param unit The unit string of the data field.
* @return The motor log (for call chaining).
*/
MotorLog& value(std::string_view name, double value, std::string_view unit);
/**
* Log the voltage applied to the motor.
*
* @param voltage The voltage to record.
* @return The motor log (for call chaining).
*/
MotorLog& voltage(units::volt_t voltage) {
return value("voltage", voltage.value(), voltage.name());
}
/**
* Log the linear position of the motor.
*
* @param position The linear position to record.
* @return The motor log (for call chaining).
*/
MotorLog& position(units::meter_t position) {
return value("position", position.value(), position.name());
}
/**
* Log the angular position of the motor.
*
* @param position The angular position to record.
* @return The motor log (for call chaining).
*/
MotorLog& position(units::turn_t position) {
return value("position", position.value(), position.name());
}
/**
* Log the linear velocity of the motor.
*
* @param velocity The linear velocity to record.
* @return The motor log (for call chaining).
*/
MotorLog& velocity(units::meters_per_second_t velocity) {
return value("velocity", velocity.value(), velocity.name());
}
/**
* Log the angular velocity of the motor.
*
* @param velocity The angular velocity to record.
* @return The motor log (for call chaining).
*/
MotorLog& velocity(units::turns_per_second_t velocity) {
return value("velocity", velocity.value(), velocity.name());
}
/**
* Log the linear acceleration of the motor.
*
* @param acceleration The linear acceleration to record.
* @return The motor log (for call chaining).
*/
MotorLog& acceleration(units::meters_per_second_squared_t acceleration) {
return value("acceleration", acceleration.value(), acceleration.name());
}
/**
* Log the angular acceleration of the motor.
*
* @param acceleration The angular acceleration to record.
* @return The motor log (for call chaining).
*/
MotorLog& acceleration(units::turns_per_second_squared_t acceleration) {
return value("acceleration", acceleration.value(), acceleration.name());
}
/**
* Log the current applied to the motor.
*
* @param current The current to record.
* @return The motor log (for call chaining).
*/
MotorLog& current(units::ampere_t current) {
return value("current", current.value(), current.name());
}
private:
friend class SysIdRoutineLog;
/**
* Create a new SysId motor log handle.
*
* @param motorName The name of the motor whose data is being logged.
* @param logName The name of the SysIdRoutineLog that this motor belongs
* to.
* @param logEntries The DataLog entries of the SysIdRoutineLog that this
* motor belongs to.
*/
MotorLog(std::string_view motorName, std::string_view logName,
LogEntries* logEntries);
std::string m_motorName;
std::string m_logName;
LogEntries* m_logEntries;
@@ -110,6 +176,12 @@ class SysIdRoutineLog {
*/
void RecordState(State state);
/**
* Log data from a motor during a SysId routine.
*
* @param motorName The name of the motor.
* @return Handle with chainable callbacks to log individual data fields.
*/
MotorLog Motor(std::string_view motorName);
static std::string StateEnumToString(State state);