okapi::AsyncVelControllerBuilder Class Reference

#include <asyncVelControllerBuilder.hpp>

Public Member Functions
	AsyncVelControllerBuilder (const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	A builder that creates async velocity controllers.
AsyncVelControllerBuilder &	withMotor (const Motor &imotor)
	Sets the motor.
AsyncVelControllerBuilder &	withMotor (const MotorGroup &imotor)
	Sets the motor.
AsyncVelControllerBuilder &	withMotor (const std::shared_ptr< AbstractMotor > &imotor)
	Sets the motor.
AsyncVelControllerBuilder &	withSensor (const ADIEncoder &isensor)
	Sets the sensor.
AsyncVelControllerBuilder &	withSensor (const IntegratedEncoder &isensor)
	Sets the sensor.
AsyncVelControllerBuilder &	withSensor (const std::shared_ptr< RotarySensor > &isensor)
	Sets the sensor.
AsyncVelControllerBuilder &	withGains (const IterativeVelPIDController::Gains &igains)
	Sets the controller gains, causing the builder to generate an AsyncVelPIDController.
AsyncVelControllerBuilder &	withVelMath (std::unique_ptr< VelMath > ivelMath)
	Sets the VelMath which calculates and filters velocity.
AsyncVelControllerBuilder &	withDerivativeFilter (std::unique_ptr< Filter > iderivativeFilter)
	Sets the derivative filter which filters the derivative term before it is scaled by kD.
AsyncVelControllerBuilder &	withGearset (const AbstractMotor::GearsetRatioPair &igearset)
	Sets the gearset.
AsyncVelControllerBuilder &	withMaxVelocity (double imaxVelocity)
	Sets the maximum velocity.
AsyncVelControllerBuilder &	withTimeUtilFactory (const TimeUtilFactory &itimeUtilFactory)
	Sets the TimeUtilFactory used when building the controller.
AsyncVelControllerBuilder &	withLogger (const std::shared_ptr< Logger > &ilogger)
	Sets the logger.
AsyncVelControllerBuilder &	parentedToCurrentTask ()
	Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.
AsyncVelControllerBuilder &	notParentedToCurrentTask ()
	Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.
std::shared_ptr< AsyncVelocityController< double, double > >	build ()
	Builds the AsyncVelocityController.

Detailed Description

Definition at line 19 of file asyncVelControllerBuilder.hpp.

Constructor & Destructor Documentation

AsyncVelControllerBuilder()

okapi::AsyncVelControllerBuilder::AsyncVelControllerBuilder ( const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger() )

explicit

A builder that creates async velocity controllers.

Use this to create an AsyncVelIntegratedController or an AsyncVelPIDController.

Parameters

ilogger

The logger this instance will log to.

Member Function Documentation

build()

std::shared_ptr< AsyncVelocityController< double, double > > okapi::AsyncVelControllerBuilder::build

(

)

Builds the AsyncVelocityController.

Throws a std::runtime_exception is no motors were set.

Returns

A fully built AsyncVelocityController.

notParentedToCurrentTask()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::notParentedToCurrentTask

(

)

Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.

This can cause runaway tasks, but is sometimes the desired behavior (e.x., if you want to use this builder once in autonomous and then again in opcontrol).

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns

An ongoing builder.

parentedToCurrentTask()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::parentedToCurrentTask

(

)

Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.

The initialize and competition_initialize tasks are never parented to. This is the default behavior.

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns

An ongoing builder.

withDerivativeFilter()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withDerivativeFilter

(

std::unique_ptr< Filter >

iderivativeFilter

)

Sets the derivative filter which filters the derivative term before it is scaled by kD.

The filter is ignored when using integrated control. The default derivative filter is a PassthroughFilter.

Parameters

iderivativeFilter

The derivative filter.

Returns

An ongoing builder.

withGains()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withGains

(

const IterativeVelPIDController::Gains &

igains

)

Sets the controller gains, causing the builder to generate an AsyncVelPIDController.

This does not set the integrated control's gains.

Parameters

igains

The gains.

Returns

An ongoing builder.

withGearset()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withGearset

(

const AbstractMotor::GearsetRatioPair &

igearset

)

Sets the gearset.

The default gearset is derived from the motor's.

Parameters

igearset

The gearset.

Returns

An ongoing builder.

withLogger()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withLogger

(

const std::shared_ptr< Logger > &

ilogger

)

Sets the logger.

Parameters

ilogger

The logger.

Returns

An ongoing builder.

withMaxVelocity()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withMaxVelocity

(

double

imaxVelocity

)

Sets the maximum velocity.

The default maximum velocity is derived from the motor's gearset. This parameter is ignored when using an AsyncVelPIDController.

Parameters

imaxVelocity

The maximum velocity.

Returns

An ongoing builder.

withMotor() [1/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withMotor

(

const Motor &

imotor

)

Sets the motor.

Parameters

imotor

The motor.

Returns

An ongoing builder.

withMotor() [2/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withMotor

(

const MotorGroup &

imotor

)

Sets the motor.

Parameters

imotor

The motor.

Returns

An ongoing builder.

withMotor() [3/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withMotor

(

const std::shared_ptr< AbstractMotor > &

imotor

)

Sets the motor.

Parameters

imotor

The motor.

Returns

An ongoing builder.

withSensor() [1/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withSensor

(

const ADIEncoder &

isensor

)

Sets the sensor.

The default sensor is the motor's integrated encoder.

Parameters

isensor

The sensor.

Returns

An ongoing builder.

withSensor() [2/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withSensor

(

const IntegratedEncoder &

isensor

)

Sets the sensor.

The default sensor is the motor's integrated encoder.

Parameters

isensor

The sensor.

Returns

An ongoing builder.

withSensor() [3/3]

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withSensor

(

const std::shared_ptr< RotarySensor > &

isensor

)

Sets the sensor.

The default sensor is the motor's integrated encoder.

Parameters

isensor

The sensor.

Returns

An ongoing builder.

withTimeUtilFactory()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withTimeUtilFactory

(

const TimeUtilFactory &

itimeUtilFactory

)

Sets the TimeUtilFactory used when building the controller.

The default is the static TimeUtilFactory.

Parameters

itimeUtilFactory

The TimeUtilFactory.

Returns

An ongoing builder.

withVelMath()

AsyncVelControllerBuilder & okapi::AsyncVelControllerBuilder::withVelMath

(

std::unique_ptr< VelMath >

ivelMath

)

Sets the VelMath which calculates and filters velocity.

This is ignored when using integrated controller. If using a PID controller (by setting the gains), this is required.

Parameters

ivelMath

The VelMath.

Returns

An ongoing builder.

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

• include/okapi/impl/control/async/asyncVelControllerBuilder.hpp