PositionThroughVelocityControllerWithAccelerationBounds Struct Reference

#include <RobotAPI/components/units/RobotUnit/BasicControllers.h>

Inheritance diagram for PositionThroughVelocityControllerWithAccelerationBounds:

Public Member Functions
float	calculateProportionalGain () const
float	estimateTime () const
bool	getCurrentlyPIDActive () const
	PositionThroughVelocityControllerWithAccelerationBounds ()
float	run () const
bool	validParameters () const

Public Attributes
float	acceleration
float	accuracy = 0.001
float	currentPosition
float	currentV
float	deceleration
float	dt
float	maxDt
float	maxV
float	pControlPosErrorLimit = 0.01
float	pControlVelLimit
std::shared_ptr< PIDController >	pid
float	targetPosition

Detailed Description

Definition at line 300 of file BasicControllers.h.

Constructor & Destructor Documentation

PositionThroughVelocityControllerWithAccelerationBounds()

PositionThroughVelocityControllerWithAccelerationBounds

(

)

Definition at line 567 of file BasicControllers.cpp.

Member Function Documentation

calculateProportionalGain()

float calculateProportionalGain

(

)

const

Definition at line 577 of file BasicControllers.cpp.

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estimateTime()

float estimateTime

(

)

const

Definition at line 701 of file BasicControllers.cpp.

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getCurrentlyPIDActive()

bool getCurrentlyPIDActive

(

)

const

Definition at line 961 of file BasicControllers.cpp.

run()

float run

(

)

const

Definition at line 597 of file BasicControllers.cpp.

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validParameters()

bool validParameters

(

)

const

Definition at line 588 of file BasicControllers.cpp.

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Member Data Documentation

acceleration

float acceleration

Definition at line 306 of file BasicControllers.h.

accuracy

float accuracy = 0.001

Definition at line 313 of file BasicControllers.h.

currentPosition

float currentPosition

Definition at line 308 of file BasicControllers.h.

currentV

float currentV

Definition at line 304 of file BasicControllers.h.

deceleration

float deceleration

Definition at line 307 of file BasicControllers.h.

dt

float dt

Definition at line 302 of file BasicControllers.h.

maxDt

float maxDt

Definition at line 303 of file BasicControllers.h.

maxV

float maxV

Definition at line 305 of file BasicControllers.h.

pControlPosErrorLimit

float pControlPosErrorLimit = 0.01

Definition at line 310 of file BasicControllers.h.

pControlVelLimit

float pControlVelLimit

Initial value:

=
            0.002

Definition at line 311 of file BasicControllers.h.

pid

std::shared_ptr<PIDController> pid

Definition at line 314 of file BasicControllers.h.

targetPosition

float targetPosition

Definition at line 309 of file BasicControllers.h.

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The documentation for this struct was generated from the following files:

• RobotAPI/components/units/RobotUnit/BasicControllers.h
• RobotAPI/components/units/RobotUnit/BasicControllers.cpp