okapi::ChassisControllerPID class

#include <include/okapi/api/chassis/controller/chassisControllerPid.hpp>

Base classes

class ChassisController

Constructors, destructors, conversion operators

ChassisControllerPID(TimeUtil itimeUtil, std::shared_ptr<ChassisModel> imodel, std::unique_ptr<IterativePosPIDController> idistanceController, std::unique_ptr<IterativePosPIDController> iturnController, std::unique_ptr<IterativePosPIDController> iangleController, const AbstractMotor::GearsetRatioPair& igearset = AbstractMotor::gearset::green, const ChassisScales& iscales = ChassisScales({1, 1}, imev5GreenTPR), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

ChassisController using PID control.

ChassisControllerPID(const ChassisControllerPID&) deleted

ChassisControllerPID(ChassisControllerPID&& other) deleted

~ChassisControllerPID() override

Public functions

auto operator=(const ChassisControllerPID& other) -> ChassisControllerPID& deleted

auto operator=(ChassisControllerPID&& other) -> ChassisControllerPID& deleted

void moveDistance(QLength itarget) override

Drives the robot straight for a distance (using closed-loop control).

void moveRaw(double itarget) override

Drives the robot straight for a distance (using closed-loop control).

void moveDistanceAsync(QLength itarget) override

Sets the target distance for the robot to drive straight (using closed-loop control).

void moveRawAsync(double itarget) override

Sets the target distance for the robot to drive straight (using closed-loop control).

void turnAngle(QAngle idegTarget) override

Turns the robot clockwise in place (using closed-loop control).

void turnRaw(double idegTarget) override

Turns the robot clockwise in place (using closed-loop control).

void turnAngleAsync(QAngle idegTarget) override

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void turnRawAsync(double idegTarget) override

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void setTurnsMirrored(bool ishouldMirror) override

Sets whether turns should be mirrored.

auto isSettled() -> bool override

Checks whether the internal controllers are currently settled.

void waitUntilSettled() override

Delays until the currently executing movement completes.

auto getChassisScales() const -> ChassisScales override

Gets the ChassisScales.

auto getGearsetRatioPair() const -> AbstractMotor::GearsetRatioPair override

Gets the GearsetRatioPair.

void setVelocityMode(bool ivelocityMode)

Sets the velocity mode flag.

void setGains(const IterativePosPIDController::Gains& idistanceGains, const IterativePosPIDController::Gains& iturnGains, const IterativePosPIDController::Gains& iangleGains)

Sets the gains for all controllers.

auto getGains() const -> std::tuple<IterativePosPIDController::Gains, IterativePosPIDController::Gains, IterativePosPIDController::Gains>

Gets the current controller gains.

void startThread()

Starts the internal thread.

auto getThread() const -> CrossplatformThread*

Returns the underlying thread handle.

void stop() override

Interrupts the current movement to stop the robot.

void setMaxVelocity(double imaxVelocity) override

Sets a new maximum velocity in RPM [0-600].

auto getMaxVelocity() const -> double override

auto getModel() -> std::shared_ptr<ChassisModel> override

auto model() -> ChassisModel& override

Protected types

enum modeType { distance, angle, none }

Protected static functions

static void trampoline(void* context)

Protected functions

void loop()

auto waitForDistanceSettled() -> bool

Wait for the distance setup (distancePid and anglePid) to settle.

auto waitForAngleSettled() -> bool

Wait for the angle setup (anglePid) to settle.

void stopAfterSettled()

Stops all the controllers and the ChassisModel.

Protected variables

std::shared_ptr<Logger> logger

bool normalTurns

std::shared_ptr<ChassisModel> chassisModel

TimeUtil timeUtil

std::unique_ptr<IterativePosPIDController> distancePid

std::unique_ptr<IterativePosPIDController> turnPid

std::unique_ptr<IterativePosPIDController> anglePid

ChassisScales scales

AbstractMotor::GearsetRatioPair gearsetRatioPair

bool velocityMode

std::atomic_bool doneLooping

std::atomic_bool doneLoopingSeen

std::atomic_bool newMovement

std::atomic_bool dtorCalled

QTime threadSleepTime

modeType mode

CrossplatformThread* task

Function documentation

// Drive forward 6 inches
chassis->moveDistance(6_in);

// Drive backward 0.2 meters
chassis->moveDistance(-0.2_m);

// Drive forward by spinning the motors 400 degrees
chassis->moveRaw(400);

// Turn 90 degrees clockwise
chassis->turnAngle(90_deg);

// Turn clockwise by spinning the motors 200 degrees
chassis->turnRaw(200);