VelocityControllerWithAccelerationAndPositionBounds Struct Reference

Performs velocity control while staying in positional bounds, obeying acceleration / deceleration and staying below a velocity bound. More...

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

Inheritance diagram for VelocityControllerWithAccelerationAndPositionBounds:

Public Member Functions
float	run () const
bool	validParameters () const
Public Member Functions inherited from VelocityControllerWithAccelerationBounds
float	estimateTime () const
float	run () const
bool	validParameters () const

Public Attributes
float	currentPosition
float	positionLimitHiSoft
float	positionLimitLoSoft
Public Attributes inherited from VelocityControllerWithAccelerationBounds
float	acceleration
float	currentV
float	deceleration
float	directSetVLimit
float	dt
float	maxDt
float	maxV
float	targetV

Detailed Description

Performs velocity control while staying in positional bounds, obeying acceleration / deceleration and staying below a velocity bound.

we can have 4 cases:

1. we need to decelerate now or we will violate the position limits (maybe we still will violate them. e.f. if we already violate them or the robot can't brake fast enough)
2. we directly set v and ignore acc/dec (if |currentV - targetV| <= directSetVLimit)
3. we need to accelerate (if currentV and targetV have same sign and |currentV| < |currentV|)
4. we need to decelerate (other cases)

   Parameters

   dt	The time in seconds until the next call is made. (use the time since the last call as an approximate)
   maxDt	Limits dt in case the given approximation has a sudden high value.
   currentV
   targetV
   maxV
   acceleration
   deceleration
   directSetVLimit	In case |currentV - targetV| <= directSetVLimit this function will return targetV (if the position bounds are not violated)
   currentPosition
   positionLimitLo
   positionLimitHi

   Returns

   The next velocity.

Member Function Documentation

run()

float run

(

)

const

validParameters()

bool validParameters

(

)

const

Member Data Documentation

currentPosition

float currentPosition

positionLimitHiSoft

float positionLimitHiSoft

positionLimitLoSoft

float positionLimitLoSoft

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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