okapi::AsyncPosPIDController class

#include <include/okapi/api/control/async/asyncPosPidController.hpp>

Base classes

template<typename Input, typename Output>

class AsyncWrapper

template<typename Input, typename Output>

class AsyncPositionController

Constructors, destructors, conversion operators

AsyncPosPIDController(const std::shared_ptr<ControllerInput<double>>& iinput, const std::shared_ptr<ControllerOutput<double>>& ioutput, const TimeUtil& itimeUtil, double ikP, double ikI, double ikD, double ikBias = 0, double iratio = 1, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), const std::shared_ptr<Logger>& ilogger = Logger::getDefaultLogger())

An async position PID controller.

AsyncPosPIDController(const std::shared_ptr<OffsetableControllerInput>& iinput, const std::shared_ptr<ControllerOutput<double>>& ioutput, const TimeUtil& itimeUtil, double ikP, double ikI, double ikD, double ikBias = 0, double iratio = 1, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), const std::shared_ptr<Logger>& ilogger = Logger::getDefaultLogger())

An async position PID controller.

Public functions

void tarePosition() override

Sets the "absolute" zero position of the controller to its current position.

void setMaxVelocity(std::int32_t imaxVelocity) override

This implementation does not respect the maximum velocity.

void setGains(const IterativePosPIDController::Gains& igains)

Set controller gains.

auto getGains() const -> IterativePosPIDController::Gains

Gets the current gains.

Protected variables

std::shared_ptr<OffsetableControllerInput> offsettableInput

std::shared_ptr<IterativePosPIDController> internalController

Function documentation