#include <include/okapi/api/filter/filteredControllerInput.hpp>
template<typename InputType, typename FilterType>
okapi::FilteredControllerInput class

A ControllerInput with a filter built in.

Template parameters
InputType the type of the ControllerInput
FilterType the type of the Filter

Contents

Base classes

template<typename T>
class ControllerInput

Constructors, destructors, conversion operators

FilteredControllerInput(std::unique_ptr<ControllerInput<InputType>> iinput, std::unique_ptr<FilterType> ifilter)
A filtered controller input.

Public functions

auto controllerGet() -> double override
Gets the sensor value for use in a control loop.

Protected variables

std::unique_ptr<ControllerInput<InputType>> input
std::unique_ptr<FilterType> filter

Function documentation

template<typename InputType, typename FilterType>
okapi::FilteredControllerInput<InputType, FilterType>::FilteredControllerInput(std::unique_ptr<ControllerInput<InputType>> iinput, std::unique_ptr<FilterType> ifilter)

A filtered controller input.

Parameters
iinput ControllerInput type
ifilter Filter type

Applies a filter to the controller input. Useful if you want to place a filter between a control input and a control loop.

template<typename InputType, typename FilterType>
double okapi::FilteredControllerInput<InputType, FilterType>::controllerGet() override

Gets the sensor value for use in a control loop.

Returns the current filtered sensor value.

This method might be automatically called in another thread by the controller.