iterativeVelPidController.hpp

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/*
 * 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/control/util/settledUtil.hpp"
#include "okapi/api/filter/passthroughFilter.hpp"
#include "okapi/api/filter/velMath.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/api/util/timeUtil.hpp"
 
namespace okapi {
class IterativeVelPIDController : public IterativeVelocityController<double, double> {
  public:
  struct Gains {
    double kP{0};
    double kD{0};
    double kF{0};
    double kSF{0};
 
    bool operator==(const Gains &rhs) const;
    bool operator!=(const Gains &rhs) const;
  };
 
  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());
 
  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());
 
  double step(double inewReading) override;
 
  void setTarget(double itarget) override;
 
  void controllerSet(double ivalue) override;
 
  double getTarget() override;
 
  double getTarget() const;
 
  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;
 
  virtual QAngularSpeed stepVel(double inewReading);
 
  virtual void setGains(const Gains &igains);
 
  Gains getGains() const;
 
  virtual void setTicksPerRev(double tpr);
 
  virtual QAngularSpeed getVel() const;
 
  protected:
  std::shared_ptr<Logger> logger;
  double kP, kD, kF, 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;
};
} // namespace okapi