okapi::AsyncVelPIDController Class Reference

#include <asyncVelPidController.hpp>

Inheritance diagram for okapi::AsyncVelPIDController:

Public Member Functions
	AsyncVelPIDController (const std::shared_ptr< ControllerInput< double > > &iinput, const std::shared_ptr< ControllerOutput< double > > &ioutput, const TimeUtil &itimeUtil, double ikP, double ikD, double ikF, double ikSF, std::unique_ptr< VelMath > ivelMath, double iratio=1, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	An async velocity PID controller.
void	setGains (const IterativeVelPIDController::Gains &igains)
	Set controller gains.
IterativeVelPIDController::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< IterativeVelPIDController >	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 asyncVelPidController.hpp.

Constructor & Destructor Documentation

AsyncVelPIDController()

okapi::AsyncVelPIDController::AsyncVelPIDController	(	const std::shared_ptr< ControllerInput< double > > &	iinput,
		const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const TimeUtil &	itimeUtil,
		double	ikP,
		double	ikD,
		double	ikF,
		double	ikSF,
		std::unique_ptr< VelMath >	ivelMath,
		double	iratio = 1,
		std::unique_ptr< Filter >	iderivativeFilter = std::make_unique< PassthroughFilter >(),
		const std::shared_ptr< Logger > &	ilogger = Logger::getDefaultLogger()
	)

An async velocity PID controller.

Parameters

iinput	The controller input.
ioutput	The controller output.
itimeUtil	The TimeUtil.
ikP	The proportional gain.
ikD	The derivative gain.
ikF	The feed-forward gain.
ikSF	A feed-forward gain to counteract static friction.
ivelMath	The VelMath used for calculating velocity.
iratio	Any external gear ratio.
iderivativeFilter	The derivative filter.

Member Function Documentation

getGains()

IterativeVelPIDController::Gains okapi::AsyncVelPIDController::getGains

(

)

const

Gets the current gains.

Returns

The current gains.

setGains()

void okapi::AsyncVelPIDController::setGains

(

const IterativeVelPIDController::Gains &

igains

)

Set controller gains.

Parameters

igains

The new gains.

Member Data Documentation

internalController

std::shared_ptr<IterativeVelPIDController> okapi::AsyncVelPIDController::internalController

protected

Definition at line 62 of file asyncVelPidController.hpp.

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

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