okapi::IterativeVelPIDController class

#include <include/okapi/api/control/iterative/iterativeVelPidController.hpp>

Base classes

template<typename Input, typename Output>

class IterativeVelocityController

Public types

struct Gains

Constructors, destructors, conversion operators

IterativeVelPIDController(double ikP, double ikD, double ikF, double ikSF, std::unique_ptr<VelMath> ivelMath, const TimeUtil& itimeUtil, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

Velocity PD controller.

IterativeVelPIDController(const Gains& igains, std::unique_ptr<VelMath> ivelMath, const TimeUtil& itimeUtil, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

Velocity PD controller.

Public functions

auto step(double inewReading) -> 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 getTarget() const -> double

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.

auto stepVel(double inewReading) -> QAngularSpeed virtual

Do one iteration of velocity calculation.

void setGains(const Gains& igains) virtual

Set controller gains.

auto getGains() const -> Gains

Gets the current gains.

void setTicksPerRev(double tpr) virtual

Sets the number of encoder ticks per revolution.

auto getVel() const -> QAngularSpeed virtual

Returns the current velocity.

Protected variables

std::shared_ptr<Logger> logger

double kP

double kD

double kF

double kSF

QTime sampleTime

double error

double derivative

double target

double outputSum

double output

double outputMax

double outputMin

double controllerSetTargetMax

double controllerSetTargetMin

bool controllerIsDisabled

std::unique_ptr<VelMath> velMath

std::unique_ptr<Filter> derivativeFilter

std::unique_ptr<AbstractTimer> loopDtTimer

std::unique_ptr<SettledUtil> settledUtil

Function documentation