#include <iterativeMotorVelocityController.hpp>

Inheritance diagram for okapi::IterativeMotorVelocityController:

Public Member Functions
	IterativeMotorVelocityController (const std::shared_ptr< AbstractMotor > &imotor, const std::shared_ptr< IterativeVelocityController< double, double > > &icontroller)
	Velocity controller that automatically writes to the motor.

double	step (double ireading) override
	Do one iteration of the controller.

void	setTarget (double itarget) override
	Sets the target for the controller.

void	controllerSet (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 override
	Returns the last calculated output of the controller.

double	getMaxOutput () override
	Get the upper output bound.

double	getMinOutput () override
	Get the lower output bound.

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 (QTime isampleTime) override
	Set time between loops in ms.

void	setOutputLimits (double imax, double imin) override
	Set controller output bounds.

void	setControllerSetTargetLimits (double itargetMax, double itargetMin) override
	Sets the (soft) limits for the target range that controllerSet() scales into.

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 (bool iisDisabled) override
	Sets whether the controller is off or on.

bool	isDisabled () const override
	Returns whether the controller is currently disabled.

QTime	getSampleTime () const override
	Get the last set sample time.

Public Member Functions inherited from okapi::IterativeController< Input, Output >
virtual Output	step (Input ireading)=0
	Do one iteration 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.

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< AbstractMotor >	motor

std::shared_ptr< IterativeVelocityController< double, double > >	controller

Detailed Description

Definition at line 14 of file iterativeMotorVelocityController.hpp.

Constructor & Destructor Documentation

◆ IterativeMotorVelocityController()

okapi::IterativeMotorVelocityController::IterativeMotorVelocityController	(	const std::shared_ptr< AbstractMotor > &	imotor,
		const std::shared_ptr< IterativeVelocityController< double, double > > &	icontroller
	)

Velocity controller that automatically writes to the motor.

Member Function Documentation

◆ controllerSet()

void okapi::IterativeMotorVelocityController::controllerSet ( double ivalue )

override

Writes the value of the controller output.

This method might be automatically called in another thread by the controller. The range of input values is expected to be [-1, 1].

Parameters

ivalue the controller's output in the range [-1, 1]

◆ flipDisable() [1/2]

void okapi::IterativeMotorVelocityController::flipDisable ( )

overridevirtual

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.

Implements okapi::ClosedLoopController< Input, Output >.

◆ flipDisable() [2/2]

void okapi::IterativeMotorVelocityController::flipDisable ( bool iisDisabled )

overridevirtual

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

Implements okapi::ClosedLoopController< Input, Output >.

◆ getError()

double okapi::IterativeMotorVelocityController::getError ( ) const

overridevirtual

Returns the last error of the controller.

Does not update when disabled.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getMaxOutput()

double okapi::IterativeMotorVelocityController::getMaxOutput ( )

overridevirtual

Get the upper output bound.

Returns: the upper output bound

Implements okapi::IterativeController< Input, Output >.

◆ getMinOutput()

double okapi::IterativeMotorVelocityController::getMinOutput ( )

overridevirtual

Get the lower output bound.

Returns: the lower output bound

Implements okapi::IterativeController< Input, Output >.

◆ getOutput()

double okapi::IterativeMotorVelocityController::getOutput ( ) const

overridevirtual

Returns the last calculated output of the controller.

Implements okapi::IterativeController< Input, Output >.

◆ getProcessValue()

double okapi::IterativeMotorVelocityController::getProcessValue ( ) const

overridevirtual

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getSampleTime()

QTime okapi::IterativeMotorVelocityController::getSampleTime ( ) const

overridevirtual

Get the last set sample time.

Returns: sample time

Implements okapi::IterativeController< Input, Output >.

◆ getTarget()

double okapi::IterativeMotorVelocityController::getTarget ( )

overridevirtual

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

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

◆ isDisabled()

bool okapi::IterativeMotorVelocityController::isDisabled ( ) const

overridevirtual

Returns whether the controller is currently disabled.

Returns: whether the controller is currently disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ isSettled()

bool okapi::IterativeMotorVelocityController::isSettled ( )

overridevirtual

Returns whether the controller has settled at the target.

Determining what settling means is implementation-dependent.

Returns: whether the controller is settled

Implements okapi::ClosedLoopController< Input, Output >.

◆ reset()

void okapi::IterativeMotorVelocityController::reset ( )

overridevirtual

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

Implements okapi::ClosedLoopController< Input, Output >.

◆ setControllerSetTargetLimits()

void okapi::IterativeMotorVelocityController::setControllerSetTargetLimits	(	double	itargetMax,
		double	itargetMin
	)

override

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()

void okapi::IterativeMotorVelocityController::setOutputLimits	(	double	imax,
		double	imin
	)

override

Set controller output bounds.

Parameters

imax	max output
imin	min output

◆ setSampleTime()

void okapi::IterativeMotorVelocityController::setSampleTime ( QTime isampleTime )

overridevirtual

Set time between loops in ms.

Parameters

isampleTime time between loops in ms

Implements okapi::IterativeController< Input, Output >.

◆ setTarget()

void okapi::IterativeMotorVelocityController::setTarget ( double itarget )

override

Sets the target for the controller.

◆ step()

double okapi::IterativeMotorVelocityController::step ( double ireading )

override

Do one iteration of the controller.

Parameters

inewReading new measurement

Returns: controller output

Member Data Documentation

◆ controller

std::shared_ptr<IterativeVelocityController<double, double> > okapi::IterativeMotorVelocityController::controller

protected

Definition at line 148 of file iterativeMotorVelocityController.hpp.

◆ motor

std::shared_ptr<AbstractMotor> okapi::IterativeMotorVelocityController::motor

protected

Definition at line 147 of file iterativeMotorVelocityController.hpp.

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

include/okapi/api/control/iterative/iterativeMotorVelocityController.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IterativeMotorVelocityController()

Member Function Documentation

◆ controllerSet()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ getError()

◆ getMaxOutput()

◆ getMinOutput()

◆ getOutput()

◆ getProcessValue()

◆ getSampleTime()

◆ getTarget()

◆ isDisabled()

◆ isSettled()

◆ reset()

◆ setControllerSetTargetLimits()

◆ setOutputLimits()

◆ setSampleTime()

◆ setTarget()

◆ step()

Member Data Documentation

◆ controller

◆ motor