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< PIDControllerpid
 
float targetPosition
 

Detailed Description

Definition at line 300 of file BasicControllers.h.

Constructor & Destructor Documentation

◆ PositionThroughVelocityControllerWithAccelerationBounds()

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.


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