#include <chassisControllerPid.hpp>

Inheritance diagram for okapi::ChassisControllerPID:

Public Member Functions
	ChassisControllerPID (TimeUtil itimeUtil, std::shared_ptr< ChassisModel > imodel, std::unique_ptr< IterativePosPIDController > idistanceController, std::unique_ptr< IterativePosPIDController > iturnController, std::unique_ptr< IterativePosPIDController > iangleController, const AbstractMotor::GearsetRatioPair &igearset=AbstractMotor::gearset::green, const ChassisScales &iscales=ChassisScales({1, 1}, imev5GreenTPR), std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	ChassisController using PID control.

	ChassisControllerPID (const ChassisControllerPID &)=delete

	ChassisControllerPID (ChassisControllerPID &&other)=delete

ChassisControllerPID &	operator= (const ChassisControllerPID &other)=delete

ChassisControllerPID &	operator= (ChassisControllerPID &&other)=delete

	~ChassisControllerPID () override

void	moveDistance (QLength itarget) override
	Drives the robot straight for a distance (using closed-loop control).

void	moveRaw (double itarget) override
	Drives the robot straight for a distance (using closed-loop control).

void	moveDistanceAsync (QLength itarget) override
	Sets the target distance for the robot to drive straight (using closed-loop control).

void	moveRawAsync (double itarget) override
	Sets the target distance for the robot to drive straight (using closed-loop control).

void	turnAngle (QAngle idegTarget) override
	Turns the robot clockwise in place (using closed-loop control).

void	turnRaw (double idegTarget) override
	Turns the robot clockwise in place (using closed-loop control).

void	turnAngleAsync (QAngle idegTarget) override
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void	turnRawAsync (double idegTarget) override
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void	setTurnsMirrored (bool ishouldMirror) override
	Sets whether turns should be mirrored.

bool	isSettled () override
	Checks whether the internal controllers are currently settled.

void	waitUntilSettled () override
	Delays until the currently executing movement completes.

ChassisScales	getChassisScales () const override
	Gets the ChassisScales.

AbstractMotor::GearsetRatioPair	getGearsetRatioPair () const override
	Gets the GearsetRatioPair.

void	setVelocityMode (bool ivelocityMode)
	Sets the velocity mode flag.

void	setGains (const IterativePosPIDController::Gains &idistanceGains, const IterativePosPIDController::Gains &iturnGains, const IterativePosPIDController::Gains &iangleGains)
	Sets the gains for all controllers.

std::tuple< IterativePosPIDController::Gains, IterativePosPIDController::Gains, IterativePosPIDController::Gains >	getGains () const
	Gets the current controller gains.

void	startThread ()
	Starts the internal thread.

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

void	stop () override
	Interrupts the current movement to stop the robot.

void	setMaxVelocity (double imaxVelocity) override
	Sets a new maximum velocity in RPM [0-600].

double	getMaxVelocity () const override

std::shared_ptr< ChassisModel >	getModel () override

ChassisModel &	model () override

Public Member Functions inherited from okapi::ChassisController
	ChassisController ()=default
	A ChassisController adds a closed-loop layer on top of a ChassisModel.

virtual	~ChassisController ()=default

Protected Types
enum	modeType { distance , angle , none }

Protected Member Functions
void	loop ()

bool	waitForDistanceSettled ()
	Wait for the distance setup (distancePid and anglePid) to settle.

bool	waitForAngleSettled ()
	Wait for the angle setup (anglePid) to settle.

void	stopAfterSettled ()
	Stops all the controllers and the ChassisModel.

Static Protected Member Functions
static void	trampoline (void *context)

Protected Attributes
std::shared_ptr< Logger >	logger

bool	normalTurns {true}

std::shared_ptr< ChassisModel >	chassisModel

TimeUtil	timeUtil

std::unique_ptr< IterativePosPIDController >	distancePid

std::unique_ptr< IterativePosPIDController >	turnPid

std::unique_ptr< IterativePosPIDController >	anglePid

ChassisScales	scales

AbstractMotor::GearsetRatioPair	gearsetRatioPair

bool	velocityMode {true}

std::atomic_bool	doneLooping {true}

std::atomic_bool	doneLoopingSeen {true}

std::atomic_bool	newMovement {false}

std::atomic_bool	dtorCalled {false}

QTime	threadSleepTime {10_ms}

modeType	mode {none}

CrossplatformThread *	task {nullptr}

Detailed Description

Definition at line 18 of file chassisControllerPid.hpp.

Member Enumeration Documentation

◆ modeType

enum okapi::ChassisControllerPID::modeType

protected

Enumerator
distance
angle
none

Definition at line 270 of file chassisControllerPid.hpp.

Constructor & Destructor Documentation

◆ ChassisControllerPID() [1/3]

okapi::ChassisControllerPID::ChassisControllerPID	(	TimeUtil	itimeUtil,
		std::shared_ptr< ChassisModel >	imodel,
		std::unique_ptr< IterativePosPIDController >	idistanceController,
		std::unique_ptr< IterativePosPIDController >	iturnController,
		std::unique_ptr< IterativePosPIDController >	iangleController,
		const AbstractMotor::GearsetRatioPair &	igearset = `AbstractMotor::gearset::green`,
		const ChassisScales &	iscales = `ChassisScales({1, 1}, imev5GreenTPR)`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

ChassisController using PID control.

Puts the motors into encoder count units. Throws a std::invalid_argument exception if the gear ratio is zero.

Parameters

itimeUtil	The TimeUtil.
imodel	The ChassisModel used to read from sensors/write to motors.
idistanceController	The PID controller that controls chassis distance for driving straight.
iturnController	The PID controller that controls chassis angle for turning.
iangleController	The PID controller that controls chassis angle for driving straight.
igearset	The internal gearset and external ratio used on the drive motors.
iscales	The ChassisScales.
ilogger	The logger this instance will log to.

◆ ChassisControllerPID() [2/3]

okapi::ChassisControllerPID::ChassisControllerPID ( const ChassisControllerPID & )

delete

◆ ChassisControllerPID() [3/3]

okapi::ChassisControllerPID::ChassisControllerPID ( ChassisControllerPID && other )

delete

◆ ~ChassisControllerPID()

okapi::ChassisControllerPID::~ChassisControllerPID ( )

override

Member Function Documentation

◆ getChassisScales()

ChassisScales okapi::ChassisControllerPID::getChassisScales ( ) const

overridevirtual

Gets the ChassisScales.

Implements okapi::ChassisController.

◆ getGains()

std::tuple< IterativePosPIDController::Gains, IterativePosPIDController::Gains, IterativePosPIDController::Gains > okapi::ChassisControllerPID::getGains ( ) const

Gets the current controller gains.

Returns: The current controller gains in the order: distance, turn, angle.

◆ getGearsetRatioPair()

AbstractMotor::GearsetRatioPair okapi::ChassisControllerPID::getGearsetRatioPair ( ) const

overridevirtual

Gets the GearsetRatioPair.

Implements okapi::ChassisController.

◆ getMaxVelocity()

double okapi::ChassisControllerPID::getMaxVelocity ( ) const

overridevirtual

Returns: The maximum velocity in RPM [0-600].

Implements okapi::ChassisController.

◆ getModel()

std::shared_ptr< ChassisModel > okapi::ChassisControllerPID::getModel ( )

overridevirtual

Returns: The internal ChassisModel.

Implements okapi::ChassisController.

◆ getThread()

CrossplatformThread * okapi::ChassisControllerPID::getThread ( ) const

Returns the underlying thread handle.

Returns: The underlying thread handle.

◆ isSettled()

bool okapi::ChassisControllerPID::isSettled ( )

overridevirtual

Checks whether the internal controllers are currently settled.

Returns: Whether this ChassisController is settled.

Implements okapi::ChassisController.

◆ loop()

void okapi::ChassisControllerPID::loop ( )

protected

◆ model()

ChassisModel & okapi::ChassisControllerPID::model ( )

overridevirtual

Returns: The internal ChassisModel.

Implements okapi::ChassisController.

◆ moveDistance()

void okapi::ChassisControllerPID::moveDistance ( QLength itarget )

overridevirtual

Drives the robot straight for a distance (using closed-loop control).

// Drive forward 6 inches
chassis->moveDistance(6_in);
 
// Drive backward 0.2 meters
chassis->moveDistance(-0.2_m);

Parameters

itarget distance to travel

Implements okapi::ChassisController.

◆ moveDistanceAsync()

void okapi::ChassisControllerPID::moveDistanceAsync ( QLength itarget )

overridevirtual

Sets the target distance for the robot to drive straight (using closed-loop control).

Parameters

itarget distance to travel

Implements okapi::ChassisController.

◆ moveRaw()

void okapi::ChassisControllerPID::moveRaw ( double itarget )

overridevirtual

Drives the robot straight for a distance (using closed-loop control).

// Drive forward by spinning the motors 400 degrees

chassis->moveRaw(400);

Parameters

itarget distance to travel in motor degrees

Implements okapi::ChassisController.

◆ moveRawAsync()

void okapi::ChassisControllerPID::moveRawAsync ( double itarget )

overridevirtual

Sets the target distance for the robot to drive straight (using closed-loop control).

Parameters

itarget distance to travel in motor degrees

Implements okapi::ChassisController.

◆ operator=() [1/2]

ChassisControllerPID & okapi::ChassisControllerPID::operator= ( ChassisControllerPID && other )

delete

◆ operator=() [2/2]

ChassisControllerPID & okapi::ChassisControllerPID::operator= ( const ChassisControllerPID & other )

delete

◆ setGains()

void okapi::ChassisControllerPID::setGains	(	const IterativePosPIDController::Gains &	idistanceGains,
		const IterativePosPIDController::Gains &	iturnGains,
		const IterativePosPIDController::Gains &	iangleGains
	)

Sets the gains for all controllers.

Parameters

idistanceGains	The distance controller gains.
iturnGains	The turn controller gains.
iangleGains	The angle controller gains.

◆ setMaxVelocity()

void okapi::ChassisControllerPID::setMaxVelocity ( double imaxVelocity )

overridevirtual

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

In voltage mode, the max velocity is ignored and a max voltage should be set on the underlying ChassisModel instead.

Parameters

imaxVelocity The new maximum velocity.

Implements okapi::ChassisController.

◆ setTurnsMirrored()

void okapi::ChassisControllerPID::setTurnsMirrored ( bool ishouldMirror )

overridevirtual

Sets whether turns should be mirrored.

Parameters

ishouldMirror whether turns should be mirrored

Implements okapi::ChassisController.

◆ setVelocityMode()

void okapi::ChassisControllerPID::setVelocityMode ( bool ivelocityMode )

Sets the velocity mode flag.

When the controller is in velocity mode, the control loop will set motor velocities. When the controller is in voltage mode (ivelocityMode = false), the control loop will set motor voltages. Additionally, when the controller is in voltage mode, it will not obey maximum velocity limits.

Parameters

ivelocityMode Whether the controller should be in velocity or voltage mode.

◆ startThread()

void okapi::ChassisControllerPID::startThread ( )

Starts the internal thread.

This method is called by the ChassisControllerBuilder when making a new instance of this class.

◆ stop()

void okapi::ChassisControllerPID::stop ( )

overridevirtual

Interrupts the current movement to stop the robot.

Implements okapi::ChassisController.

◆ stopAfterSettled()

void okapi::ChassisControllerPID::stopAfterSettled ( )

protected

Stops all the controllers and the ChassisModel.

◆ trampoline()

static void okapi::ChassisControllerPID::trampoline ( void * context )

staticprotected

◆ turnAngle()

void okapi::ChassisControllerPID::turnAngle ( QAngle idegTarget )

overridevirtual

Turns the robot clockwise in place (using closed-loop control).

// Turn 90 degrees clockwise

chassis->turnAngle(90_deg);

Parameters

idegTarget angle to turn for

Implements okapi::ChassisController.

◆ turnAngleAsync()

void okapi::ChassisControllerPID::turnAngleAsync ( QAngle idegTarget )

overridevirtual

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

Parameters

idegTarget angle to turn for

Implements okapi::ChassisController.

◆ turnRaw()

void okapi::ChassisControllerPID::turnRaw ( double idegTarget )

overridevirtual

Turns the robot clockwise in place (using closed-loop control).

// Turn clockwise by spinning the motors 200 degrees

chassis->turnRaw(200);

Parameters

idegTarget angle to turn for in motor degrees

Implements okapi::ChassisController.

◆ turnRawAsync()

void okapi::ChassisControllerPID::turnRawAsync ( double idegTarget )

overridevirtual

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

Parameters

idegTarget angle to turn for in motor degrees

Implements okapi::ChassisController.

◆ waitForAngleSettled()

bool okapi::ChassisControllerPID::waitForAngleSettled ( )

protected

Wait for the angle setup (anglePid) to settle.

Returns: true if done settling; false if settling should be tried again

◆ waitForDistanceSettled()

bool okapi::ChassisControllerPID::waitForDistanceSettled ( )

protected

Wait for the distance setup (distancePid and anglePid) to settle.

Returns: true if done settling; false if settling should be tried again

◆ waitUntilSettled()

void okapi::ChassisControllerPID::waitUntilSettled ( )

overridevirtual

Delays until the currently executing movement completes.

Implements okapi::ChassisController.

Member Data Documentation

◆ anglePid

std::unique_ptr<IterativePosPIDController> okapi::ChassisControllerPID::anglePid

protected

Definition at line 238 of file chassisControllerPid.hpp.

◆ chassisModel

std::shared_ptr<ChassisModel> okapi::ChassisControllerPID::chassisModel

protected

Definition at line 234 of file chassisControllerPid.hpp.

◆ distancePid

std::unique_ptr<IterativePosPIDController> okapi::ChassisControllerPID::distancePid

protected

Definition at line 236 of file chassisControllerPid.hpp.

◆ doneLooping

std::atomic_bool okapi::ChassisControllerPID::doneLooping {true}

protected

Definition at line 242 of file chassisControllerPid.hpp.

◆ doneLoopingSeen

std::atomic_bool okapi::ChassisControllerPID::doneLoopingSeen {true}

protected

Definition at line 243 of file chassisControllerPid.hpp.

◆ dtorCalled

std::atomic_bool okapi::ChassisControllerPID::dtorCalled {false}

protected

Definition at line 245 of file chassisControllerPid.hpp.

◆ gearsetRatioPair

AbstractMotor::GearsetRatioPair okapi::ChassisControllerPID::gearsetRatioPair

protected

Definition at line 240 of file chassisControllerPid.hpp.

◆ logger

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

protected

Definition at line 232 of file chassisControllerPid.hpp.

◆ mode

modeType okapi::ChassisControllerPID::mode {none}

protected

Definition at line 271 of file chassisControllerPid.hpp.

◆ newMovement

std::atomic_bool okapi::ChassisControllerPID::newMovement {false}

protected

Definition at line 244 of file chassisControllerPid.hpp.

◆ normalTurns

bool okapi::ChassisControllerPID::normalTurns {true}

protected

Definition at line 233 of file chassisControllerPid.hpp.

◆ scales

ChassisScales okapi::ChassisControllerPID::scales

protected

Definition at line 239 of file chassisControllerPid.hpp.

◆ task

CrossplatformThread* okapi::ChassisControllerPID::task {nullptr}

protected

Definition at line 273 of file chassisControllerPid.hpp.

◆ threadSleepTime

QTime okapi::ChassisControllerPID::threadSleepTime {10_ms}

protected

Definition at line 246 of file chassisControllerPid.hpp.

◆ timeUtil

TimeUtil okapi::ChassisControllerPID::timeUtil

protected

Definition at line 235 of file chassisControllerPid.hpp.

◆ turnPid

std::unique_ptr<IterativePosPIDController> okapi::ChassisControllerPID::turnPid

protected

Definition at line 237 of file chassisControllerPid.hpp.

◆ velocityMode

bool okapi::ChassisControllerPID::velocityMode {true}

protected

Definition at line 241 of file chassisControllerPid.hpp.

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

include/okapi/api/chassis/controller/chassisControllerPid.hpp

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ modeType

Constructor & Destructor Documentation

◆ ChassisControllerPID() [1/3]

◆ ChassisControllerPID() [2/3]

◆ ChassisControllerPID() [3/3]

◆ ~ChassisControllerPID()

Member Function Documentation

◆ getChassisScales()

◆ getGains()

◆ getGearsetRatioPair()

◆ getMaxVelocity()

◆ getModel()

◆ getThread()

◆ isSettled()

◆ loop()

◆ model()

◆ moveDistance()

◆ moveDistanceAsync()

◆ moveRaw()

◆ moveRawAsync()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setGains()

◆ setMaxVelocity()

◆ setTurnsMirrored()

◆ setVelocityMode()

◆ startThread()

◆ stop()

◆ stopAfterSettled()

◆ trampoline()

◆ turnAngle()

◆ turnAngleAsync()

◆ turnRaw()

◆ turnRawAsync()

◆ waitForAngleSettled()

◆ waitForDistanceSettled()

◆ waitUntilSettled()

Member Data Documentation

◆ anglePid

◆ chassisModel

◆ distancePid

◆ doneLooping

◆ doneLoopingSeen

◆ dtorCalled

◆ gearsetRatioPair

◆ logger

◆ mode

◆ newMovement

◆ normalTurns

◆ scales

◆ task

◆ threadSleepTime

◆ timeUtil

◆ turnPid

◆ velocityMode