LightLib
PROS library for VEX V5: EKF/MCL localization, RAMSETE path following, high-level chassis API
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iterativeControllerFactory.hpp
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1/*
2 * This Source Code Form is subject to the terms of the Mozilla Public
3 * License, v. 2.0. If a copy of the MPL was not distributed with this
4 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
5 */
6#pragma once
7
8#include "okapi/api/control/iterative/iterativeMotorVelocityController.hpp"
9#include "okapi/api/control/iterative/iterativePosPidController.hpp"
10#include "okapi/api/control/iterative/iterativeVelPidController.hpp"
11#include "okapi/api/util/mathUtil.hpp"
12#include "okapi/impl/device/motor/motor.hpp"
13#include "okapi/impl/device/motor/motorGroup.hpp"
14#include "okapi/impl/filter/velMathFactory.hpp"
15
16namespace okapi {
17class IterativeControllerFactory {
18 public:
29 static IterativePosPIDController
30 posPID(double ikP,
31 double ikI,
32 double ikD,
33 double ikBias = 0,
34 std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
35 const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
36
47 static IterativeVelPIDController
48 velPID(double ikP,
49 double ikD,
50 double ikF = 0,
51 double ikSF = 0,
52 std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
53 std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
54 const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
55
68 static IterativeMotorVelocityController
69 motorVelocity(Motor imotor,
70 double ikP,
71 double ikD,
72 double ikF = 0,
73 double ikSF = 0,
74 std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
75 std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
76 const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
77
90 static IterativeMotorVelocityController
91 motorVelocity(MotorGroup imotor,
92 double ikP,
93 double ikD,
94 double ikF = 0,
95 double ikSF = 0,
96 std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
97 std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
98 const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
99
106 static IterativeMotorVelocityController
107 motorVelocity(Motor imotor,
108 std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
109
116 static IterativeMotorVelocityController
117 motorVelocity(MotorGroup imotor,
118 std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
119};
120} // namespace okapi
okapi::IterativeControllerFactory::motorVelocity
static IterativeMotorVelocityController motorVelocity(Motor imotor, std::shared_ptr< IterativeVelocityController< double, double > > icontroller)
Velocity PD controller that automatically writes to the motor.
okapi::IterativeControllerFactory::posPID
static IterativePosPIDController posPID(double ikP, double ikI, double ikD, double ikBias=0, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
Position PID controller.
okapi::IterativeControllerFactory::motorVelocity
static IterativeMotorVelocityController motorVelocity(Motor imotor, double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
Velocity PD controller that automatically writes to the motor.
okapi::IterativeControllerFactory::velPID
static IterativeVelPIDController velPID(double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
Velocity PD controller.
okapi::IterativeControllerFactory::motorVelocity
static IterativeMotorVelocityController motorVelocity(MotorGroup imotor, std::shared_ptr< IterativeVelocityController< double, double > > icontroller)
Velocity PD controller that automatically writes to the motor.
okapi::IterativeControllerFactory::motorVelocity
static IterativeMotorVelocityController motorVelocity(MotorGroup imotor, double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
Velocity PD controller that automatically writes to the motor.
okapi::Logger::getDefaultLogger
static std::shared_ptr< Logger > getDefaultLogger()
okapi::VelMathFactory::createPtr
static std::unique_ptr< VelMath > createPtr(double iticksPerRev, QTime isampleTime=0_ms, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
Velocity math helper.
okapi::imev5GreenTPR
static constexpr std::int32_t imev5GreenTPR
The ticks per rotation of the V5 motor with a green gearset.
Definition mathUtil.hpp:63