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

An abstract closed-loop controller. More...

#include <closedLoopController.hpp>

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

Public Member Functions
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::ClosedLoopController< Input, Output >

An abstract closed-loop controller.

Template Parameters

Input	The target/input type.
Output	The error/output type.

Definition at line 19 of file closedLoopController.hpp.

Constructor & Destructor Documentation

~ClosedLoopController()

template<typename Input , typename Output >

virtual okapi::ClosedLoopController< Input, Output >::~ClosedLoopController ( )

virtualdefault

Member Function Documentation

flipDisable() [1/2]

template<typename Input , typename Output >

virtual void okapi::ClosedLoopController< Input, Output >::flipDisable ( )

pure virtual

Changes whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

flipDisable() [2/2]

template<typename Input , typename Output >

virtual void okapi::ClosedLoopController< Input, Output >::flipDisable ( bool  iisDisabled )

pure virtual

Sets whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

Parameters

iisDisabled

whether the controller is disabled

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, okapi::IterativeVelPIDController, okapi::AsyncWrapper< Input, Output >, and okapi::AsyncWrapper< double, double >.

getError()

template<typename Input , typename Output >

virtual Output okapi::ClosedLoopController< Input, Output >::getError ( ) const

pure virtual

Returns the last error of the controller.

Does not update when disabled.

Returns

the last error

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

getProcessValue()

template<typename Input , typename Output >

virtual Input okapi::ClosedLoopController< Input, Output >::getProcessValue ( ) const

pure virtual

Returns

The most recent value of the process variable.

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

getTarget()

template<typename Input , typename Output >

virtual Input okapi::ClosedLoopController< Input, Output >::getTarget ( )

pure virtual

Gets the last set target, or the default target if none was set.

Returns

the last target

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

isDisabled()

template<typename Input , typename Output >

virtual bool okapi::ClosedLoopController< Input, Output >::isDisabled ( ) const

pure virtual

Returns whether the controller is currently disabled.

Returns

whether the controller is currently disabled

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

isSettled()

template<typename Input , typename Output >

virtual bool okapi::ClosedLoopController< Input, Output >::isSettled ( )

pure virtual

Returns whether the controller has settled at the target.

Determining what settling means is implementation-dependent.

If the controller is disabled, this method must return true.

Returns

whether the controller is settled

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

reset()

template<typename Input , typename Output >

virtual void okapi::ClosedLoopController< Input, Output >::reset ( )

pure virtual

Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

Implemented in okapi::AsyncLinearMotionProfileController, okapi::AsyncMotionProfileController, okapi::AsyncPosIntegratedController, okapi::AsyncVelIntegratedController, okapi::AsyncWrapper< Input, Output >, okapi::AsyncWrapper< double, double >, okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

setTarget()

template<typename Input , typename Output >

virtual void okapi::ClosedLoopController< Input, Output >::setTarget ( Input  itarget )

pure virtual

Sets the target for the controller.

Parameters

itarget

the new target

Implemented in okapi::AsyncWrapper< Input, Output >.

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

• include/okapi/api/control/closedLoopController.hpp