okapi::AsyncController< Input, Output > Class Template Reference

Closed-loop controller that steps on its own in another thread and automatically writes to the output. More...

#include <asyncController.hpp>

Inheritance diagram for okapi::AsyncController< Input, Output >:

Public Member Functions
virtual void	waitUntilSettled ()=0
	Blocks the current task until the controller has settled.
Public Member Functions inherited from okapi::ClosedLoopController< Input, Output >
virtual	~ClosedLoopController ()=default
virtual void	setTarget (Input itarget)=0
	Sets the target for the controller.
virtual Input	getTarget ()=0
	Gets the last set target, or the default target if none was set.
virtual Input	getProcessValue () const =0
virtual Output	getError () const =0
	Returns the last error of the controller.
virtual bool	isSettled ()=0
	Returns whether the controller has settled at the target.
virtual void	reset ()=0
	Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.
virtual void	flipDisable ()=0
	Changes whether the controller is off or on.
virtual void	flipDisable (bool iisDisabled)=0
	Sets whether the controller is off or on.
virtual bool	isDisabled () const =0
	Returns whether the controller is currently disabled.
Public Member Functions inherited from okapi::ControllerOutput< Input >
virtual void	controllerSet (Input ivalue)=0
	Writes the value of the controller output.

Detailed Description

template<typename Input, typename Output>
class okapi::AsyncController< Input, Output >

Closed-loop controller that steps on its own in another thread and automatically writes to the output.

Definition at line 16 of file asyncController.hpp.

Member Function Documentation

waitUntilSettled()

template<typename Input , typename Output >

virtual void okapi::AsyncController< Input, Output >::waitUntilSettled ( )

pure virtual

Blocks the current task until the controller has settled.

Determining what settling means is implementation-dependent.

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, and okapi::AsyncWrapper< double, double >.

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

• include/okapi/api/control/async/asyncController.hpp