87 lines
2.5 KiB
C++
87 lines
2.5 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/controllerOutput.hpp"
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#include "okapi/api/units/QTime.hpp"
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namespace okapi {
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/**
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* An abstract closed-loop controller.
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*
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* @tparam Input The target/input type.
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* @tparam Output The error/output type.
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*/
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template <typename Input, typename Output>
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class ClosedLoopController : public ControllerOutput<Input> {
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public:
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virtual ~ClosedLoopController() = default;
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/**
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* Sets the target for the controller.
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*
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* @param itarget the new target
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*/
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virtual void setTarget(Input itarget) = 0;
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/**
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* Gets the last set target, or the default target if none was set.
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*
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* @return the last target
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*/
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virtual Input getTarget() = 0;
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/**
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* @return The most recent value of the process variable.
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*/
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virtual Input getProcessValue() const = 0;
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/**
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* Returns the last error of the controller. Does not update when disabled.
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*
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* @return the last error
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*/
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virtual Output getError() const = 0;
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/**
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* Returns whether the controller has settled at the target. Determining what settling means is
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* implementation-dependent.
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*
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* If the controller is disabled, this method must return `true`.
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*
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* @return whether the controller is settled
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*/
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virtual bool isSettled() = 0;
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/**
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* Resets the controller's internal state so it is similar to when it was first initialized, while
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* keeping any user-configured information.
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*/
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virtual void reset() = 0;
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/**
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* Changes whether the controller is off or on. Turning the controller on after it was off will
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* cause the controller to move to its last set target, unless it was reset in that time.
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*/
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virtual void flipDisable() = 0;
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/**
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* Sets whether the controller is off or on. Turning the controller on after it was off will
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* cause the controller to move to its last set target, unless it was reset in that time.
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*
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* @param iisDisabled whether the controller is disabled
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*/
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virtual void flipDisable(bool iisDisabled) = 0;
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/**
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* Returns whether the controller is currently disabled.
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*
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* @return whether the controller is currently disabled
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*/
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virtual bool isDisabled() const = 0;
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};
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} // namespace okapi
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