light::slew Class Reference

Slew-rate limiter that ramps speed up linearly over a configurable distance. More...

#include <slew.hpp>

Classes
struct	Constants
	Slew configuration constants. More...

Public Member Functions
	slew ()
	Default constructor.
	slew (double distance, int minimum_speed)
	Sets constants for slew.
void	constants_set (double distance, int minimum_speed)
	Sets constants for slew.
Constants	constants_get ()
void	initialize (bool enabled, double maximum_speed, double target, double current)
	Initializes slew for the motion.
double	iterate (double current)
	Iterates slew and ramps up speed the farther along the motion the robot gets.
bool	enabled ()
	Returns true if slew is enabled, and false if it isn't.
double	output ()
	Returns the last output of iterate.
void	speed_max_set (double speed)
	Sets the max speed the slew can be.
double	speed_max_get ()
	Returns the max speed the slew can be.

Public Attributes
Constants	constants
	Active slew constants (read/write).

Detailed Description

Slew-rate limiter that ramps speed up linearly over a configurable distance.

Initialize at the start of a motion via initialize(), then call iterate() each cycle with the current sensor position. The output ramps from min_speed to maximum_speed as the robot travels distance_to_travel.

Definition at line 29 of file slew.hpp.

Constructor & Destructor Documentation

slew() [1/2]

light::slew::slew

(

)

Default constructor.

Constants must be set via constants_set() before use.

slew() [2/2]

light::slew::slew	(	double	distance,
		int	minimum_speed
	)

Sets constants for slew.

Slew ramps up the speed of the robot until the set distance is traveled.

Parameters

distance	the distance the robot travels before reaching max speed
minimum_speed	the starting speed for the movement

Member Function Documentation

constants_get()

Constants light::slew::constants_get

(

)

Returns

The current slew Constants.

constants_set()

void light::slew::constants_set	(	double	distance,
		int	minimum_speed
	)

Sets constants for slew.

Slew ramps up the speed of the robot until the set distance is traveled.

Parameters

distance	the distance the robot travels before reaching max speed
minimum_speed	the starting speed for the movement

enabled()

bool light::slew::enabled

(

)

Returns true if slew is enabled, and false if it isn't.

initialize()

void light::slew::initialize	(	bool	enabled,
		double	maximum_speed,
		double	target,
		double	current
	)

Initializes slew for the motion.

Parameters

enabled	true enables slew, false disables slew
maximum_speed	the target speed the robot will ramp up too
target	the target position for the motion
current	the position at the start of the motion

iterate()

double light::slew::iterate

(

double

current

)

Iterates slew and ramps up speed the farther along the motion the robot gets.

Parameters

current

current sensor value

output()

double light::slew::output

(

)

Returns the last output of iterate.

speed_max_get()

double light::slew::speed_max_get

(

)

Returns the max speed the slew can be.

speed_max_set()

void light::slew::speed_max_set

(

double

speed

)

Sets the max speed the slew can be.

Parameters

speed

maximum speed

Member Data Documentation

constants

Constants light::slew::constants

Active slew constants (read/write).

Definition at line 41 of file slew.hpp.

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

• include/LightLib/control/slew.hpp