Closed-loop controller that uses the V5 motor's onboard control to move. More...

#include <asyncPosIntegratedController.hpp>

Inheritance diagram for okapi::AsyncPosIntegratedController:

Public Member Functions
	AsyncPosIntegratedController (const std::shared_ptr< AbstractMotor > &imotor, const AbstractMotor::GearsetRatioPair &ipair, std::int32_t imaxVelocity, const TimeUtil &itimeUtil, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Closed-loop controller that uses the V5 motor's onboard control to move.

void	setTarget (double itarget) override
	Sets the target for the controller.

double	getTarget () override
	Gets the last set target, or the default target if none was set.

double	getProcessValue () const override

double	getError () const override
	Returns the last error of the controller.

bool	isSettled () override
	Returns whether the controller has settled at the target.

void	reset () override
	Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

void	flipDisable () override
	Changes whether the controller is off or on.

void	flipDisable (bool iisDisabled) override
	Sets whether the controller is off or on.

bool	isDisabled () const override
	Returns whether the controller is currently disabled.

void	waitUntilSettled () override
	Blocks the current task until the controller has settled.

void	controllerSet (double ivalue) override
	Writes the value of the controller output.

void	tarePosition () override
	Sets the "absolute" zero position of the controller to its current position.

void	setMaxVelocity (std::int32_t imaxVelocity) override
	Sets a new maximum velocity in motor RPM [0-600].

virtual void	stop ()
	Stops the motor mid-movement.

Public Member Functions inherited from okapi::ClosedLoopController< Input, Output >
virtual	~ClosedLoopController ()=default

virtual void	setTarget (Input itarget)=0
	Sets the target for the controller.

Public Member Functions inherited from okapi::ControllerOutput< Input >
virtual void	controllerSet (Input ivalue)=0
	Writes the value of the controller output.

Protected Member Functions
virtual void	resumeMovement ()
	Resumes moving after the controller is reset.

Protected Attributes
std::shared_ptr< Logger >	logger

TimeUtil	timeUtil

std::shared_ptr< AbstractMotor >	motor

AbstractMotor::GearsetRatioPair	pair

std::int32_t	maxVelocity

double	lastTarget {0}

double	offset {0}

bool	controllerIsDisabled {false}

bool	hasFirstTarget {false}

std::unique_ptr< SettledUtil >	settledUtil

Detailed Description

Closed-loop controller that uses the V5 motor's onboard control to move.

Input units are whatever units the motor is in.

Definition at line 18 of file asyncPosIntegratedController.hpp.

Constructor & Destructor Documentation

◆ AsyncPosIntegratedController()

okapi::AsyncPosIntegratedController::AsyncPosIntegratedController	(	const std::shared_ptr< AbstractMotor > &	imotor,
		const AbstractMotor::GearsetRatioPair &	ipair,
		std::int32_t	imaxVelocity,
		const TimeUtil &	itimeUtil,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

Closed-loop controller that uses the V5 motor's onboard control to move.

Input units are whatever units the motor is in. Throws a std::invalid_argument exception if the gear ratio is zero.

Parameters

imotor	The motor to control.
ipair	The gearset.
imaxVelocity	The maximum velocity after gearing.
itimeUtil	The TimeUtil.
ilogger	The logger this instance will log to.

Member Function Documentation

◆ controllerSet()

void okapi::AsyncPosIntegratedController::controllerSet ( double ivalue )

override

Writes the value of the controller output.

This method might be automatically called in another thread by the controller. The range of input values is expected to be [-1, 1].

Parameters

ivalue the controller's output in the range [-1, 1]

◆ flipDisable() [1/2]

void okapi::AsyncPosIntegratedController::flipDisable ( )

overridevirtual

Changes whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

Implements okapi::ClosedLoopController< Input, Output >.

◆ flipDisable() [2/2]

void okapi::AsyncPosIntegratedController::flipDisable ( bool iisDisabled )

overridevirtual

Sets whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

Parameters

iisDisabled whether the controller is disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ getError()

double okapi::AsyncPosIntegratedController::getError ( ) const

overridevirtual

Returns the last error of the controller.

Does not update when disabled.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getProcessValue()

double okapi::AsyncPosIntegratedController::getProcessValue ( ) const

overridevirtual

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getTarget()

double okapi::AsyncPosIntegratedController::getTarget ( )

overridevirtual

Gets the last set target, or the default target if none was set.

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

◆ isDisabled()

bool okapi::AsyncPosIntegratedController::isDisabled ( ) const

overridevirtual

Returns whether the controller is currently disabled.

Returns: whether the controller is currently disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ isSettled()

bool okapi::AsyncPosIntegratedController::isSettled ( )

overridevirtual

Returns whether the controller has settled at the target.

Determining what settling means is implementation-dependent.

If the controller is disabled, this method must return true.

Returns: whether the controller is settled

Implements okapi::ClosedLoopController< Input, Output >.

◆ reset()

void okapi::AsyncPosIntegratedController::reset ( )

overridevirtual

Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

Implements okapi::ClosedLoopController< Input, Output >.

◆ resumeMovement()

virtual void okapi::AsyncPosIntegratedController::resumeMovement ( )

protectedvirtual

Resumes moving after the controller is reset.

Should not cause movement if the controller is turned off, reset, and turned back on.

◆ setMaxVelocity()

void okapi::AsyncPosIntegratedController::setMaxVelocity ( std::int32_t imaxVelocity )

overridevirtual

Sets a new maximum velocity in motor RPM [0-600].

Parameters

imaxVelocity The new maximum velocity in motor RPM [0-600].

Implements okapi::AsyncPositionController< double, double >.

◆ setTarget()

void okapi::AsyncPosIntegratedController::setTarget ( double itarget )

override

Sets the target for the controller.

◆ stop()

virtual void okapi::AsyncPosIntegratedController::stop ( )

virtual

Stops the motor mid-movement.

Does not change the last set target.

◆ tarePosition()

void okapi::AsyncPosIntegratedController::tarePosition ( )

overridevirtual

Sets the "absolute" zero position of the controller to its current position.

Implements okapi::AsyncPositionController< double, double >.

◆ waitUntilSettled()

void okapi::AsyncPosIntegratedController::waitUntilSettled ( )

overridevirtual

Blocks the current task until the controller has settled.

Determining what settling means is implementation-dependent.

Implements okapi::AsyncController< Input, Output >.

Member Data Documentation

◆ controllerIsDisabled

bool okapi::AsyncPosIntegratedController::controllerIsDisabled {false}

protected

Definition at line 135 of file asyncPosIntegratedController.hpp.

◆ hasFirstTarget

bool okapi::AsyncPosIntegratedController::hasFirstTarget {false}

protected

Definition at line 136 of file asyncPosIntegratedController.hpp.

◆ lastTarget

double okapi::AsyncPosIntegratedController::lastTarget {0}

protected

Definition at line 133 of file asyncPosIntegratedController.hpp.

◆ logger

std::shared_ptr<Logger> okapi::AsyncPosIntegratedController::logger

protected

Definition at line 128 of file asyncPosIntegratedController.hpp.

◆ maxVelocity

std::int32_t okapi::AsyncPosIntegratedController::maxVelocity

protected

Definition at line 132 of file asyncPosIntegratedController.hpp.

◆ motor

std::shared_ptr<AbstractMotor> okapi::AsyncPosIntegratedController::motor

protected

Definition at line 130 of file asyncPosIntegratedController.hpp.

◆ offset

double okapi::AsyncPosIntegratedController::offset {0}

protected

Definition at line 134 of file asyncPosIntegratedController.hpp.

◆ pair

AbstractMotor::GearsetRatioPair okapi::AsyncPosIntegratedController::pair

protected

Definition at line 131 of file asyncPosIntegratedController.hpp.

◆ settledUtil

std::unique_ptr<SettledUtil> okapi::AsyncPosIntegratedController::settledUtil

protected

Definition at line 137 of file asyncPosIntegratedController.hpp.

◆ timeUtil

TimeUtil okapi::AsyncPosIntegratedController::timeUtil

protected

Definition at line 129 of file asyncPosIntegratedController.hpp.

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

include/okapi/api/control/async/asyncPosIntegratedController.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AsyncPosIntegratedController()

Member Function Documentation

◆ controllerSet()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ getError()

◆ getProcessValue()

◆ getTarget()

◆ isDisabled()

◆ isSettled()

◆ reset()

◆ resumeMovement()

◆ setMaxVelocity()

◆ setTarget()

◆ stop()

◆ tarePosition()

◆ waitUntilSettled()

Member Data Documentation

◆ controllerIsDisabled

◆ hasFirstTarget

◆ lastTarget

◆ logger

◆ maxVelocity

◆ motor

◆ offset

◆ pair

◆ settledUtil

◆ timeUtil