#include <include/okapi/api/control/async/asyncPositionController.hpp>
template<typename Input, typename Output>
okapi::AsyncPositionController class

Contents

Base classes

template<typename Input, typename Output>
class AsyncController virtual
Closed-loop controller that steps on its own in another thread and automatically writes to the output.

Public functions

void tarePosition() pure virtual
Sets the "absolute" zero position of the controller to its current position.
void setMaxVelocity(std::int32_t imaxVelocity) pure virtual
Sets a new maximum velocity (typically motor RPM [0-600]).

Function documentation

template<typename Input, typename Output>
void okapi::AsyncPositionController<Input, Output>::setMaxVelocity(std::int32_t imaxVelocity) pure virtual

Sets a new maximum velocity (typically motor RPM [0-600]).

Parameters
imaxVelocity The new maximum velocity.

The interpretation of the units of this velocity and whether it will be respected is implementation-dependent.