#include <iterativeVelPidController.hpp>

Inheritance diagram for okapi::IterativeVelPIDController:

Classes
struct	Gains

Public Member Functions
	IterativeVelPIDController (double ikP, double ikD, double ikF, double ikSF, std::unique_ptr< VelMath > ivelMath, const TimeUtil &itimeUtil, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	Velocity PD controller.

	IterativeVelPIDController (const Gains &igains, std::unique_ptr< VelMath > ivelMath, const TimeUtil &itimeUtil, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	Velocity PD controller.

double	step (double inewReading) 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	getTarget () const
	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.

virtual QAngularSpeed	stepVel (double inewReading)
	Do one iteration of velocity calculation.

virtual void	setGains (const Gains &igains)
	Set controller gains.

Gains	getGains () const
	Gets the current gains.

virtual void	setTicksPerRev (double tpr)
	Sets the number of encoder ticks per revolution.

virtual QAngularSpeed	getVel () const
	Returns the current velocity.

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< Logger >	logger

double	kP

double	kD

double	kF

double	kSF

QTime	sampleTime {10_ms}

double	error {0}

double	derivative {0}

double	target {0}

double	outputSum {0}

double	output {0}

double	outputMax {1}

double	outputMin {-1}

double	controllerSetTargetMax {1}

double	controllerSetTargetMin {-1}

bool	controllerIsDisabled {false}

std::unique_ptr< VelMath >	velMath

std::unique_ptr< Filter >	derivativeFilter

std::unique_ptr< AbstractTimer >	loopDtTimer

std::unique_ptr< SettledUtil >	settledUtil

Detailed Description

Definition at line 16 of file iterativeVelPidController.hpp.

Constructor & Destructor Documentation

◆ IterativeVelPIDController() [1/2]

okapi::IterativeVelPIDController::IterativeVelPIDController	(	double	ikP,
		double	ikD,
		double	ikF,
		double	ikSF,
		std::unique_ptr< VelMath >	ivelMath,
		const TimeUtil &	itimeUtil,
		std::unique_ptr< Filter >	iderivativeFilter = `std::make_unique< PassthroughFilter >()`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

Velocity PD controller.

Parameters

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.
itimeUtil	see TimeUtil docs
iderivativeFilter	a filter for filtering the derivative term
ilogger	The logger this instance will log to.

◆ IterativeVelPIDController() [2/2]

okapi::IterativeVelPIDController::IterativeVelPIDController	(	const Gains &	igains,
		std::unique_ptr< VelMath >	ivelMath,
		const TimeUtil &	itimeUtil,
		std::unique_ptr< Filter >	iderivativeFilter = `std::make_unique< PassthroughFilter >()`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

Velocity PD controller.

Parameters

igains	The controller gains.
ivelMath	The VelMath used for calculating velocity.
itimeUtil	see TimeUtil docs
iderivativeFilter	a filter for filtering the derivative term
ilogger	The logger this instance will log to.

Member Function Documentation

◆ controllerSet()

void okapi::IterativeVelPIDController::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::IterativeVelPIDController::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::IterativeVelPIDController::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::IterativeVelPIDController::getError ( ) const

overridevirtual

Returns the last error of the controller.

Does not update when disabled.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getGains()

Gains okapi::IterativeVelPIDController::getGains ( ) const

Gets the current gains.

Returns: The current gains.

◆ getMaxOutput()

double okapi::IterativeVelPIDController::getMaxOutput ( )

overridevirtual

Get the upper output bound.

Returns: the upper output bound

Implements okapi::IterativeController< Input, Output >.

◆ getMinOutput()

double okapi::IterativeVelPIDController::getMinOutput ( )

overridevirtual

Get the lower output bound.

Returns: the lower output bound

Implements okapi::IterativeController< Input, Output >.

◆ getOutput()

double okapi::IterativeVelPIDController::getOutput ( ) const

overridevirtual

Returns the last calculated output of the controller.

Implements okapi::IterativeController< Input, Output >.

◆ getProcessValue()

double okapi::IterativeVelPIDController::getProcessValue ( ) const

overridevirtual

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getSampleTime()

QTime okapi::IterativeVelPIDController::getSampleTime ( ) const

overridevirtual

Get the last set sample time.

Returns: sample time

Implements okapi::IterativeController< Input, Output >.

◆ getTarget() [1/2]

double okapi::IterativeVelPIDController::getTarget ( ) const

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

Returns: the last target

◆ getTarget() [2/2]

double okapi::IterativeVelPIDController::getTarget ( )

overridevirtual

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

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

◆ getVel()

virtual QAngularSpeed okapi::IterativeVelPIDController::getVel ( ) const

virtual

Returns the current velocity.

◆ isDisabled()

bool okapi::IterativeVelPIDController::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::IterativeVelPIDController::isSettled ( )

overridevirtual

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

Implements okapi::ClosedLoopController< Input, Output >.

◆ reset()

void okapi::IterativeVelPIDController::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::IterativeVelPIDController::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().

◆ setGains()

virtual void okapi::IterativeVelPIDController::setGains ( const Gains & igains )

virtual

Set controller gains.

Parameters

igains The new gains.

◆ setOutputLimits()

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

override

Set controller output bounds.

Default bounds are [-1, 1].

Parameters

imax	max output
imin	min output

◆ setSampleTime()

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

overridevirtual

Set time between loops in ms.

Parameters

isampleTime time between loops

Implements okapi::IterativeController< Input, Output >.

◆ setTarget()

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

override

Sets the target for the controller.

Parameters

itarget new target velocity

◆ setTicksPerRev()

virtual void okapi::IterativeVelPIDController::setTicksPerRev ( double tpr )

virtual

Sets the number of encoder ticks per revolution.

Default is 1800.

Parameters

tpr	number of measured units per revolution

◆ step()

double okapi::IterativeVelPIDController::step ( double inewReading )

override

Do one iteration of the controller.

Returns the reading in the range [-1, 1] unless the bounds have been changed with setOutputLimits().

Parameters

inewReading new measurement

Returns: controller output

◆ stepVel()

virtual QAngularSpeed okapi::IterativeVelPIDController::stepVel ( double inewReading )

virtual

Do one iteration of velocity calculation.

Parameters

inewReading new measurement

Returns: filtered velocity

Member Data Documentation

◆ controllerIsDisabled

bool okapi::IterativeVelPIDController::controllerIsDisabled {false}

protected

Definition at line 248 of file iterativeVelPidController.hpp.

◆ controllerSetTargetMax

double okapi::IterativeVelPIDController::controllerSetTargetMax {1}

protected

Definition at line 246 of file iterativeVelPidController.hpp.

◆ controllerSetTargetMin

double okapi::IterativeVelPIDController::controllerSetTargetMin {-1}

protected

Definition at line 247 of file iterativeVelPidController.hpp.

◆ derivative

double okapi::IterativeVelPIDController::derivative {0}

protected

Definition at line 240 of file iterativeVelPidController.hpp.

◆ derivativeFilter

std::unique_ptr<Filter> okapi::IterativeVelPIDController::derivativeFilter

protected

Definition at line 251 of file iterativeVelPidController.hpp.

◆ error

double okapi::IterativeVelPIDController::error {0}

protected

Definition at line 239 of file iterativeVelPidController.hpp.

◆ kD

double okapi::IterativeVelPIDController::kD

protected

Definition at line 237 of file iterativeVelPidController.hpp.

◆ kF

double okapi::IterativeVelPIDController::kF

protected

Definition at line 237 of file iterativeVelPidController.hpp.

◆ kP

double okapi::IterativeVelPIDController::kP

protected

Definition at line 237 of file iterativeVelPidController.hpp.

◆ kSF

double okapi::IterativeVelPIDController::kSF

protected

Definition at line 237 of file iterativeVelPidController.hpp.

◆ logger

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

protected

Definition at line 236 of file iterativeVelPidController.hpp.

◆ loopDtTimer

std::unique_ptr<AbstractTimer> okapi::IterativeVelPIDController::loopDtTimer

protected

Definition at line 252 of file iterativeVelPidController.hpp.

◆ output

double okapi::IterativeVelPIDController::output {0}

protected

Definition at line 243 of file iterativeVelPidController.hpp.

◆ outputMax

double okapi::IterativeVelPIDController::outputMax {1}

protected

Definition at line 244 of file iterativeVelPidController.hpp.

◆ outputMin

double okapi::IterativeVelPIDController::outputMin {-1}

protected

Definition at line 245 of file iterativeVelPidController.hpp.

◆ outputSum

double okapi::IterativeVelPIDController::outputSum {0}

protected

Definition at line 242 of file iterativeVelPidController.hpp.

◆ sampleTime

QTime okapi::IterativeVelPIDController::sampleTime {10_ms}

protected

Definition at line 238 of file iterativeVelPidController.hpp.

◆ settledUtil

std::unique_ptr<SettledUtil> okapi::IterativeVelPIDController::settledUtil

protected

Definition at line 253 of file iterativeVelPidController.hpp.

◆ target

double okapi::IterativeVelPIDController::target {0}

protected

Definition at line 241 of file iterativeVelPidController.hpp.

◆ velMath

std::unique_ptr<VelMath> okapi::IterativeVelPIDController::velMath

protected

Definition at line 250 of file iterativeVelPidController.hpp.

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

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

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IterativeVelPIDController() [1/2]

◆ IterativeVelPIDController() [2/2]

Member Function Documentation

◆ controllerSet()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ getError()

◆ getGains()

◆ getMaxOutput()

◆ getMinOutput()

◆ getOutput()

◆ getProcessValue()

◆ getSampleTime()

◆ getTarget() [1/2]

◆ getTarget() [2/2]

◆ getVel()

◆ isDisabled()

◆ isSettled()

◆ reset()

◆ setControllerSetTargetLimits()

◆ setGains()

◆ setOutputLimits()

◆ setSampleTime()

◆ setTarget()

◆ setTicksPerRev()

◆ step()

◆ stepVel()

Member Data Documentation

◆ controllerIsDisabled

◆ controllerSetTargetMax

◆ controllerSetTargetMin

◆ derivative

◆ derivativeFilter

◆ error

◆ kD

◆ kF

◆ kP

◆ kSF

◆ logger

◆ loopDtTimer

◆ output

◆ outputMax

◆ outputMin

◆ outputSum

◆ sampleTime

◆ settledUtil

◆ target

◆ velMath