#include <asyncPosPidController.hpp>

Inheritance diagram for okapi::AsyncPosPIDController:

Public Member Functions
	AsyncPosPIDController (const std::shared_ptr< ControllerInput< double > > &iinput, const std::shared_ptr< ControllerOutput< double > > &ioutput, const TimeUtil &itimeUtil, double ikP, double ikI, double ikD, double ikBias=0, double iratio=1, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	An async position PID controller.

	AsyncPosPIDController (const std::shared_ptr< OffsetableControllerInput > &iinput, const std::shared_ptr< ControllerOutput< double > > &ioutput, const TimeUtil &itimeUtil, double ikP, double ikI, double ikD, double ikBias=0, double iratio=1, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	An async position PID controller.

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

void	setMaxVelocity (std::int32_t imaxVelocity) override
	This implementation does not respect the maximum velocity.

void	setGains (const IterativePosPIDController::Gains &igains)
	Set controller gains.

IterativePosPIDController::Gains	getGains () const
	Gets the current gains.

Public Member Functions inherited from okapi::AsyncWrapper< double, double >
	AsyncWrapper (const std::shared_ptr< ControllerInput< double > > &iinput, const std::shared_ptr< ControllerOutput< double > > &ioutput, const std::shared_ptr< IterativeController< double, double > > &icontroller, const Supplier< std::unique_ptr< AbstractRate > > &irateSupplier, const double iratio=1, std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	A wrapper class that transforms an `IterativeController` into an `AsyncController` by running it in another task.

	AsyncWrapper (AsyncWrapper< double, double > &&other)=delete

AsyncWrapper< double, double > &	operator= (AsyncWrapper< double, double > &&other)=delete

	~AsyncWrapper () override

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

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

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

double	getProcessValue () const override

double	getOutput () const
	Returns the last calculated output of the controller.

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

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

void	setSampleTime (const QTime &isampleTime)
	Set time between loops.

void	setOutputLimits (const double imax, const double imin)
	Set controller output bounds.

void	setControllerSetTargetLimits (double itargetMax, double itargetMin)
	Sets the (soft) limits for the target range that controllerSet() scales into.

double	getMaxOutput ()
	Get the upper output bound.

double	getMinOutput ()
	Get the lower output bound.

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 (const 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	startThread ()
	Starts the internal thread.

CrossplatformThread *	getThread () const
	Returns the underlying thread handle.

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 Attributes
std::shared_ptr< OffsetableControllerInput >	offsettableInput

std::shared_ptr< IterativePosPIDController >	internalController

Protected Attributes inherited from okapi::AsyncWrapper< double, double >
std::shared_ptr< Logger >	logger

Supplier< std::unique_ptr< AbstractRate > >	rateSupplier

std::shared_ptr< ControllerInput< double > >	input

std::shared_ptr< ControllerOutput< double > >	output

std::shared_ptr< IterativeController< double, double > >	controller

bool	hasFirstTarget

double	lastTarget

double	ratio

std::atomic_bool	dtorCalled

CrossplatformThread *	task

Additional Inherited Members
Protected Member Functions inherited from okapi::AsyncWrapper< double, double >
void	loop ()

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

Static Protected Member Functions inherited from okapi::AsyncWrapper< double, double >
static void	trampoline (void *context)

Detailed Description

Definition at line 17 of file asyncPosPidController.hpp.

Constructor & Destructor Documentation

◆ AsyncPosPIDController() [1/2]

okapi::AsyncPosPIDController::AsyncPosPIDController	(	const std::shared_ptr< ControllerInput< double > > &	iinput,
		const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const TimeUtil &	itimeUtil,
		double	ikP,
		double	ikI,
		double	ikD,
		double	ikBias = `0`,
		double	iratio = `1`,
		std::unique_ptr< Filter >	iderivativeFilter = `std::make_unique< PassthroughFilter >()`,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

An async position PID controller.

Parameters

iinput	The controller input. Will be turned into an OffsettableControllerInput.
ioutput	The controller output.
itimeUtil	The TimeUtil.
ikP	The proportional gain.
ikI	The integral gain.
ikD	The derivative gain.
ikBias	The controller bias.
iratio	Any external gear ratio.
iderivativeFilter	The derivative filter.

◆ AsyncPosPIDController() [2/2]

okapi::AsyncPosPIDController::AsyncPosPIDController	(	const std::shared_ptr< OffsetableControllerInput > &	iinput,
		const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const TimeUtil &	itimeUtil,
		double	ikP,
		double	ikI,
		double	ikD,
		double	ikBias = `0`,
		double	iratio = `1`,
		std::unique_ptr< Filter >	iderivativeFilter = `std::make_unique< PassthroughFilter >()`,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

An async position PID controller.

Parameters

iinput	The controller input.
ioutput	The controller output.
itimeUtil	The TimeUtil.
ikP	The proportional gain.
ikI	The integral gain.
ikD	The derivative gain.
ikBias	The controller bias.
iratio	Any external gear ratio.
iderivativeFilter	The derivative filter.

Member Function Documentation

◆ getGains()

IterativePosPIDController::Gains okapi::AsyncPosPIDController::getGains ( ) const

Gets the current gains.

Returns: The current gains.

◆ setGains()

void okapi::AsyncPosPIDController::setGains ( const IterativePosPIDController::Gains & igains )

Set controller gains.

Parameters

igains The new gains.

◆ setMaxVelocity()

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

overridevirtual

This implementation does not respect the maximum velocity.

Parameters

imaxVelocity Ignored.

Implements okapi::AsyncPositionController< double, double >.

◆ tarePosition()

void okapi::AsyncPosPIDController::tarePosition ( )

overridevirtual

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

Implements okapi::AsyncPositionController< double, double >.

Member Data Documentation

◆ internalController

std::shared_ptr<IterativePosPIDController> okapi::AsyncPosPIDController::internalController

protected

Definition at line 98 of file asyncPosPidController.hpp.

◆ offsettableInput

std::shared_ptr<OffsetableControllerInput> okapi::AsyncPosPIDController::offsettableInput

protected

Definition at line 97 of file asyncPosPidController.hpp.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AsyncPosPIDController() [1/2]

◆ AsyncPosPIDController() [2/2]

Member Function Documentation

◆ getGains()

◆ setGains()

◆ setMaxVelocity()

◆ tarePosition()

Member Data Documentation

◆ internalController

◆ offsettableInput