52 lines
1.7 KiB
C++
52 lines
1.7 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/units/QTime.hpp"
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#include "okapi/api/util/abstractTimer.hpp"
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#include <memory>
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namespace okapi {
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class SettledUtil {
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public:
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/**
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* A utility class to determine if a control loop has settled based on error. A control loop is
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* settled if the error is within `iatTargetError` and `iatTargetDerivative` for `iatTargetTime`.
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*
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* @param iatTargetTimer A timer used to track `iatTargetTime`.
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* @param iatTargetError The minimum error to be considered settled.
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* @param iatTargetDerivative The minimum error derivative to be considered settled.
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* @param iatTargetTime The minimum time within atTargetError to be considered settled.
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*/
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explicit SettledUtil(std::unique_ptr<AbstractTimer> iatTargetTimer,
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double iatTargetError = 50,
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double iatTargetDerivative = 5,
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QTime iatTargetTime = 250_ms);
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virtual ~SettledUtil();
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/**
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* Returns whether the controller is settled.
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*
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* @param ierror The current error.
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* @return Whether the controller is settled.
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*/
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virtual bool isSettled(double ierror);
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/**
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* Resets the "at target" timer and clears the previous error.
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*/
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virtual void reset();
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protected:
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double atTargetError = 50;
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double atTargetDerivative = 5;
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QTime atTargetTime = 250_ms;
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std::unique_ptr<AbstractTimer> atTargetTimer;
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double lastError = 0;
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};
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} // namespace okapi
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