PositionThroughVelocityControllerWithAccelerationRamps Struct Reference

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

Classes
struct	Output

Public Types
enum class	State {   Unknown = -1 , IncAccIncJerk , IncAccDecJerk , Keep ,   DecAccIncJerk , DecAccDecJerk , PCtrl }

Public Member Functions
std::pair< State, Output >	calcState () const
double	calculateProportionalGain () const
double	estimateTime () const
double	getTargetPosition () const
	PositionThroughVelocityControllerWithAccelerationRamps ()
Output	run ()
void	setTargetPosition (double value)
bool	validParameters () const

Public Attributes
double	acceleration
double	accuracy = 0.001
double	currentAcc
double	currentPosition
double	currentV
double	deceleration
double	dt
double	jerk
double	maxDt
double	maxV
double	p
double	pControlPosErrorLimit = 0.01
double	pControlVelLimit
State	state = State::Unknown
bool	usePIDAtEnd = true

Protected Attributes
double	targetPosition

Member Enumeration Documentation

State

enum class State

strong

Enumerator
Unknown
IncAccIncJerk
IncAccDecJerk
Keep
DecAccIncJerk
DecAccDecJerk
PCtrl

Constructor & Destructor Documentation

PositionThroughVelocityControllerWithAccelerationRamps()

PositionThroughVelocityControllerWithAccelerationRamps

(

)

Member Function Documentation

calcState()

std::pair< PositionThroughVelocityControllerWithAccelerationRamps::State, PositionThroughVelocityControllerWithAccelerationRamps::Output > calcState

(

)

const

calculateProportionalGain()

double calculateProportionalGain

(

)

const

estimateTime()

double estimateTime

(

)

const

getTargetPosition()

double getTargetPosition

(

)

const

run()

PositionThroughVelocityControllerWithAccelerationRamps::Output run

(

)

setTargetPosition()

void setTargetPosition

(

double

value

)

validParameters()

bool validParameters

(

)

const

Member Data Documentation

acceleration

double acceleration

accuracy

double accuracy = 0.001

currentAcc

double currentAcc

currentPosition

double currentPosition

currentV

double currentV

deceleration

double deceleration

dt

double dt

jerk

double jerk

maxDt

double maxDt

maxV

double maxV

p

double p

pControlPosErrorLimit

double pControlPosErrorLimit = 0.01

pControlVelLimit

double pControlVelLimit

Initial value:

=
            0.002

state

State state = State::Unknown

mutable

targetPosition

double targetPosition

protected

usePIDAtEnd

bool usePIDAtEnd = true

---

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

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