65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/control/async/asyncVelocityController.hpp"
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#include "okapi/api/control/async/asyncWrapper.hpp"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/control/controllerOutput.hpp"
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#include "okapi/api/control/iterative/iterativeVelPidController.hpp"
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#include "okapi/api/util/timeUtil.hpp"
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#include <memory>
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namespace okapi {
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class AsyncVelPIDController : public AsyncWrapper<double, double>,
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public AsyncVelocityController<double, double> {
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public:
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/**
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* An async velocity PID controller.
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*
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* @param iinput The controller input.
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* @param ioutput The controller output.
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* @param itimeUtil The TimeUtil.
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* @param ikP The proportional gain.
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* @param ikD The derivative gain.
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* @param ikF The feed-forward gain.
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* @param ikSF A feed-forward gain to counteract static friction.
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* @param ivelMath The VelMath used for calculating velocity.
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* @param iratio Any external gear ratio.
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* @param iderivativeFilter The derivative filter.
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*/
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AsyncVelPIDController(
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const std::shared_ptr<ControllerInput<double>> &iinput,
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const std::shared_ptr<ControllerOutput<double>> &ioutput,
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const TimeUtil &itimeUtil,
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double ikP,
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double ikD,
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double ikF,
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double ikSF,
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std::unique_ptr<VelMath> ivelMath,
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double iratio = 1,
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std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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/**
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* Set controller gains.
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*
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* @param igains The new gains.
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*/
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void setGains(const IterativeVelPIDController::Gains &igains);
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/**
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* Gets the current gains.
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*
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* @return The current gains.
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*/
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IterativeVelPIDController::Gains getGains() const;
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protected:
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std::shared_ptr<IterativeVelPIDController> internalController;
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};
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} // namespace okapi
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