okapi::IterativeMotorVelocityController class
#include <include/okapi/api/control/iterative/iterativeMotorVelocityController.hpp>

Reference

Base classes

template<typename Input, typename Output> class IterativeVelocityController

Constructors, destructors, conversion operators

IterativeMotorVelocityController(const std::shared_ptr<AbstractMotor>& imotor, const std::shared_ptr<IterativeVelocityController<double, double>>& icontroller): Velocity controller that automatically writes to the motor.

Public functions

auto step(double ireading) -> double override: Do one iteration of the controller.
void setTarget(double itarget) override: Sets the target for the controller.
void controllerSet(double ivalue) override: Writes the value of the controller output.
auto getTarget() -> double override: Gets the last set target, or the default target if none was set.
auto getProcessValue() const -> double override
auto getOutput() const -> double override: Returns the last calculated output of the controller.
auto getMaxOutput() -> double override: Get the upper output bound.
auto getMinOutput() -> double override: Get the lower output bound.
auto getError() const -> double override: Returns the last error of the controller.
auto isSettled() -> bool override: Returns whether the controller has settled at the target.
void setSampleTime(QTime isampleTime) override: Set time between loops in ms.
void setOutputLimits(double imax, double imin) override: Set controller output bounds.
void setControllerSetTargetLimits(double itargetMax, double itargetMin) override: Sets the (soft) limits for the target range that controllerSet() scales into.
void reset() override: Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.
void flipDisable() override: Changes whether the controller is off or on.
void flipDisable(bool iisDisabled) override: Sets whether the controller is off or on.
auto isDisabled() const -> bool override: Returns whether the controller is currently disabled.
auto getSampleTime() const -> QTime override: Get the last set sample time.

Protected variables

std::shared_ptr<AbstractMotor> motor
std::shared_ptr<IterativeVelocityController<double, double>> controller

Function documentation

double okapi::IterativeMotorVelocityController::step(double ireading) override

Do one iteration of the controller.

Returns	controller output

void okapi::IterativeMotorVelocityController::controllerSet(double ivalue) override

Writes the value of the controller output.

Parameters
ivalue	the controller's output in the range `[-1, 1]`

This method might be automatically called in another thread by the controller. The range of input values is expected to be [-1, 1].

double okapi::IterativeMotorVelocityController::getTarget() override

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

Returns	the last target

double okapi::IterativeMotorVelocityController::getProcessValue() const override

Returns	The most recent value of the process variable.

double okapi::IterativeMotorVelocityController::getMaxOutput() override

Get the upper output bound.

Returns	the upper output bound

double okapi::IterativeMotorVelocityController::getMinOutput() override

Get the lower output bound.

Returns	the lower output bound

double okapi::IterativeMotorVelocityController::getError() const override

Returns the last error of the controller.

Does not update when disabled.

bool okapi::IterativeMotorVelocityController::isSettled() override

Returns whether the controller has settled at the target.

Returns	whether the controller is settled

Determining what settling means is implementation-dependent.

void okapi::IterativeMotorVelocityController::setSampleTime(QTime isampleTime) override

Set time between loops in ms.

Parameters
isampleTime	time between loops in ms

void okapi::IterativeMotorVelocityController::setOutputLimits(double imax, double imin) override

Set controller output bounds.

Parameters
imax	max output
imin	min output

void okapi::IterativeMotorVelocityController::setControllerSetTargetLimits(double itargetMax, double itargetMin) override

Sets the (soft) limits for the target range that controllerSet() scales into.

Parameters
itargetMax	The new max target for controllerSet().
itargetMin	The new min target for controllerSet().

The target computed by controllerSet() is scaled into the range [-itargetMin, itargetMax].

void okapi::IterativeMotorVelocityController::flipDisable() override

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.

void okapi::IterativeMotorVelocityController::flipDisable(bool iisDisabled) override

Sets whether the controller is off or on.

Parameters
iisDisabled	whether the controller is disabled