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

#include <asyncPositionController.hpp>

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

Public Member Functions
virtual void	tarePosition ()=0
	Sets the "absolute" zero position of the controller to its current position.
virtual void	setMaxVelocity (std::int32_t imaxVelocity)=0
	Sets a new maximum velocity (typically motor RPM [0-600]).
Public Member Functions inherited from okapi::AsyncController< Input, Output >
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::AsyncPositionController< Input, Output >

Definition at line 13 of file asyncPositionController.hpp.

Member Function Documentation

setMaxVelocity()

template<typename Input , typename Output >

virtual void okapi::AsyncPositionController< Input, Output >::setMaxVelocity ( std::int32_t  imaxVelocity )

pure virtual

Sets a new maximum velocity (typically motor RPM [0-600]).

The interpretation of the units of this velocity and whether it will be respected is implementation-dependent.

Parameters

imaxVelocity

The new maximum velocity.

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, and okapi::AsyncPosPIDController.

tarePosition()

template<typename Input , typename Output >

virtual void okapi::AsyncPositionController< Input, Output >::tarePosition ( )

pure virtual

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

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, and okapi::AsyncPosPIDController.

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

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