#include <include/okapi/api/control/closedLoopController.hpp>
template<typename Input, typename Output>
okapi::ClosedLoopController class

An abstract closed-loop controller.

Template parameters
Input The target/input type.
Output The error/output type.

Contents

Base classes

template<typename T>
class ControllerOutput

Derived classes

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

Constructors, destructors, conversion operators

~ClosedLoopController() defaulted virtual

Public functions

void setTarget(Input itarget) pure virtual
Sets the target for the controller.
auto getTarget() -> Input pure virtual
Gets the last set target, or the default target if none was set.
auto getProcessValue() const -> Input pure virtual
auto getError() const -> Output pure virtual
Returns the last error of the controller.
auto isSettled() -> bool pure virtual
Returns whether the controller has settled at the target.
void reset() pure virtual
Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.
void flipDisable() pure virtual
Changes whether the controller is off or on.
void flipDisable(bool iisDisabled) pure virtual
Sets whether the controller is off or on.
auto isDisabled() const -> bool pure virtual
Returns whether the controller is currently disabled.

Function documentation

template<typename Input, typename Output>
void okapi::ClosedLoopController<Input, Output>::setTarget(Input itarget) pure virtual

Sets the target for the controller.

Parameters
itarget the new target

template<typename Input, typename Output>
Input okapi::ClosedLoopController<Input, Output>::getTarget() pure virtual

Gets the last set target, or the default target if none was set.

Returns the last target

template<typename Input, typename Output>
Input okapi::ClosedLoopController<Input, Output>::getProcessValue() const pure virtual

Returns The most recent value of the process variable.

template<typename Input, typename Output>
Output okapi::ClosedLoopController<Input, Output>::getError() const pure virtual

Returns the last error of the controller.

Returns the last error

Does not update when disabled.

template<typename Input, typename Output>
bool okapi::ClosedLoopController<Input, Output>::isSettled() pure virtual

Returns whether the controller has settled at the target.

Returns whether the controller is settled

Determining what settling means is implementation-dependent.

If the controller is disabled, this method must return true.

template<typename Input, typename Output>
void okapi::ClosedLoopController<Input, Output>::flipDisable() pure virtual

Changes whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

template<typename Input, typename Output>
void okapi::ClosedLoopController<Input, Output>::flipDisable(bool iisDisabled) pure virtual

Sets whether the controller is off or on.

Parameters
iisDisabled whether the controller is disabled

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

template<typename Input, typename Output>
bool okapi::ClosedLoopController<Input, Output>::isDisabled() const pure virtual

Returns whether the controller is currently disabled.

Returns whether the controller is currently disabled