iterativeMotorVelocityController.hpp

Go to the documentation of this file.

/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/control/iterative/iterativeVelocityController.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include <array>
#include <memory>
 
namespace okapi {
class IterativeMotorVelocityController : public IterativeVelocityController<double, double> {
  public:
  IterativeMotorVelocityController(
    const std::shared_ptr<AbstractMotor> &imotor,
    const std::shared_ptr<IterativeVelocityController<double, double>> &icontroller);
 
  double step(double ireading) override;
 
  void setTarget(double itarget) override;
 
  void controllerSet(double ivalue) override;
 
  double getTarget() override;
 
  double getProcessValue() const override;
 
  double getOutput() const override;
 
  double getMaxOutput() override;
 
  double getMinOutput() override;
 
  double getError() const override;
 
  bool isSettled() override;
 
  void setSampleTime(QTime isampleTime) override;
 
  void setOutputLimits(double imax, double imin) override;
 
  void setControllerSetTargetLimits(double itargetMax, double itargetMin) override;
 
  void reset() override;
 
  void flipDisable() override;
 
  void flipDisable(bool iisDisabled) override;
 
  bool isDisabled() const override;
 
  QTime getSampleTime() const override;
 
  protected:
  std::shared_ptr<AbstractMotor> motor;
  std::shared_ptr<IterativeVelocityController<double, double>> controller;
};
} // namespace okapi