light::RotationalSnap Class Reference

Manual-then-snap controller for a motor + rotation-sensor pair. More...

#include <rotational_snap.hpp>

Public Member Functions
	RotationalSnap (pros::AbstractMotor &motor, pros::Rotation &sensor, std::vector< double > snap_angles_deg, double kP=1.5, double tolerance_deg=1.0, int max_snap_speed=80, int input_deadband=5)
void	update (int manual_input)
	Advance one tick.
void	set_snap_angles (std::vector< double > angles_deg)
	Replace the snap angle list at runtime.
void	set_enabled (bool on)
	Enable or disable snap behavior.
double	get_position_deg () const
double	get_target_deg () const
bool	is_snapping () const

Detailed Description

Manual-then-snap controller for a motor + rotation-sensor pair.

Pair any pros::Motor with a pros::Rotation sensor on the same axle. Call update() once per opcontrol tick where manual_input is the blended button + joystick value in the range -127..127.

While |input| > deadband the motor runs manually. The first tick where input transitions back to zero, the controller latches onto the nearest snap angle and runs a P controller to hold it.

Definition at line 33 of file rotational_snap.hpp.

Constructor & Destructor Documentation

RotationalSnap()

light::RotationalSnap::RotationalSnap	(	pros::AbstractMotor &	motor,
		pros::Rotation &	sensor,
		std::vector< double >	snap_angles_deg,
		double	kP = 1.5,
		double	tolerance_deg = 1.0,
		int	max_snap_speed = 80,
		int	input_deadband = 5
	)

Parameters

motor	motor to drive
sensor	rotation sensor on the same axis
snap_angles_deg	list of preset angles (degrees) to snap to
kP	proportional gain on the snap controller
tolerance_deg	considered settled within this many degrees
max_snap_speed	speed cap while snapping, 0..127
input_deadband	|input| ≤ this is treated as zero

Member Function Documentation

get_position_deg()

double light::RotationalSnap::get_position_deg

(

)

const

Returns

Current sensor reading in degrees.

get_target_deg()

double light::RotationalSnap::get_target_deg

(

)

const

Returns

Current snap target in degrees, NaN if none latched.

is_snapping()

bool light::RotationalSnap::is_snapping ( ) const

inline

Returns

true while the snap controller is actively driving to a target.

Definition at line 99 of file rotational_snap.hpp.

set_enabled()

void light::RotationalSnap::set_enabled

(

bool

on

)

Enable or disable snap behavior.

Parameters

on	true = normal behavior, false = pure passthrough (manual only)

set_snap_angles()

void light::RotationalSnap::set_snap_angles

(

std::vector< double >

angles_deg

)

Replace the snap angle list at runtime.

Parameters

angles_deg

new list of angles in degrees

update()

void light::RotationalSnap::update

(

int

manual_input

)

Advance one tick.

Call once per opcontrol loop. |input| > deadband → manual control. Going from non-zero to zero latches the nearest snap angle and runs a P-controller to it.

Parameters

manual_input

operator input, -127..127

Note

INVARIANT: must be called every tick while the controller is connected. If a tick is missed between non-zero and zero input, the latch may be skipped (the snap target won't engage until the next non-zero → zero transition).

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The documentation for this class was generated from the following file:

• include/LightLib/util/rotational_snap.hpp