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

Closed-loop controller that steps iteratively using the step method below. More...

#include <iterativeController.hpp>

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

Public Member Functions
virtual Output	step (Input ireading)=0
	Do one iteration of the controller.
virtual Output	getOutput () const =0
	Returns the last calculated output of the controller.
virtual void	setOutputLimits (Output imax, Output imin)=0
	Set controller output bounds.
virtual void	setControllerSetTargetLimits (Output itargetMax, Output itargetMin)=0
	Sets the (soft) limits for the target range that controllerSet() scales into.
virtual Output	getMaxOutput ()=0
	Get the upper output bound.
virtual Output	getMinOutput ()=0
	Get the lower output bound.
virtual void	setSampleTime (QTime isampleTime)=0
	Set time between loops.
virtual QTime	getSampleTime () const =0
	Get the last set sample time.
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::IterativeController< Input, Output >

Closed-loop controller that steps iteratively using the step method below.

ControllerOutput::controllerSet() should set the controller's target to the input scaled by the output bounds.

Definition at line 19 of file iterativeController.hpp.

Member Function Documentation

getMaxOutput()

template<typename Input , typename Output >

virtual Output okapi::IterativeController< Input, Output >::getMaxOutput ( )

pure virtual

Get the upper output bound.

Returns

the upper output bound

Implemented in okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

getMinOutput()

template<typename Input , typename Output >

virtual Output okapi::IterativeController< Input, Output >::getMinOutput ( )

pure virtual

Get the lower output bound.

Returns

the lower output bound

Implemented in okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

getOutput()

template<typename Input , typename Output >

virtual Output okapi::IterativeController< Input, Output >::getOutput ( ) const

pure virtual

Returns the last calculated output of the controller.

Implemented in okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

getSampleTime()

template<typename Input , typename Output >

virtual QTime okapi::IterativeController< Input, Output >::getSampleTime ( ) const

pure virtual

Get the last set sample time.

Returns

sample time

Implemented in okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

setControllerSetTargetLimits()

template<typename Input , typename Output >

virtual void okapi::IterativeController< Input, Output >::setControllerSetTargetLimits ( Output  itargetMax, Output  itargetMin  )

pure virtual

Sets the (soft) limits for the target range that controllerSet() scales into.

The target computed by controllerSet() is scaled into the range [-itargetMin, itargetMax].

Parameters

itargetMax	The new max target for controllerSet().
itargetMin	The new min target for controllerSet().

setOutputLimits()

template<typename Input , typename Output >

virtual void okapi::IterativeController< Input, Output >::setOutputLimits ( Output  imax, Output  imin  )

pure virtual

Set controller output bounds.

Parameters

imax	max output
imin	min output

setSampleTime()

template<typename Input , typename Output >

virtual void okapi::IterativeController< Input, Output >::setSampleTime ( QTime  isampleTime )

pure virtual

Set time between loops.

Parameters

isampleTime

time between loops

Implemented in okapi::IterativeMotorVelocityController, okapi::IterativePosPIDController, and okapi::IterativeVelPIDController.

step()

template<typename Input , typename Output >

virtual Output okapi::IterativeController< Input, Output >::step ( Input  ireading )

pure virtual

Do one iteration of the controller.

Parameters

ireading

A new measurement.

Returns

The controller output.

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

• include/okapi/api/control/iterative/iterativeController.hpp