101 lines
3.3 KiB
C++
101 lines
3.3 KiB
C++
/*
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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/asyncPositionController.hpp"
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#include "okapi/api/control/async/asyncWrapper.hpp"
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#include "okapi/api/control/controllerOutput.hpp"
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#include "okapi/api/control/iterative/iterativePosPidController.hpp"
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#include "okapi/api/control/offsettableControllerInput.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 AsyncPosPIDController : public AsyncWrapper<double, double>,
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public AsyncPositionController<double, double> {
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public:
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/**
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* An async position PID controller.
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*
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* @param iinput The controller input. Will be turned into an OffsettableControllerInput.
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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 ikI The integral gain.
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* @param ikD The derivative gain.
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* @param ikBias The controller bias.
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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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AsyncPosPIDController(
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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 ikI,
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double ikD,
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double ikBias = 0,
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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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* An async position 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 ikI The integral gain.
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* @param ikD The derivative gain.
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* @param ikBias The controller bias.
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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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AsyncPosPIDController(
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const std::shared_ptr<OffsetableControllerInput> &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 ikI,
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double ikD,
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double ikBias = 0,
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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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* Sets the "absolute" zero position of the controller to its current position.
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*/
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void tarePosition() override;
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/**
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* This implementation does not respect the maximum velocity.
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*
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* @param imaxVelocity Ignored.
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*/
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void setMaxVelocity(std::int32_t imaxVelocity) override;
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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 IterativePosPIDController::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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IterativePosPIDController::Gains getGains() const;
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protected:
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std::shared_ptr<OffsetableControllerInput> offsettableInput;
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std::shared_ptr<IterativePosPIDController> internalController;
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};
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} // namespace okapi
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