121 lines
4.6 KiB
C++
121 lines
4.6 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/iterative/iterativeMotorVelocityController.hpp"
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#include "okapi/api/control/iterative/iterativePosPidController.hpp"
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#include "okapi/api/control/iterative/iterativeVelPidController.hpp"
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#include "okapi/api/util/mathUtil.hpp"
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#include "okapi/impl/device/motor/motor.hpp"
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#include "okapi/impl/device/motor/motorGroup.hpp"
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#include "okapi/impl/filter/velMathFactory.hpp"
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namespace okapi {
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class IterativeControllerFactory {
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public:
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/**
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* Position PID controller.
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*
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* @param ikP proportional gain
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* @param ikI integral gain
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* @param ikD derivative gain
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* @param ikBias controller bias (constant offset added to the output)
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* @param iderivativeFilter A filter for filtering the derivative term.
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* @param ilogger The logger this instance will log to.
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*/
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static IterativePosPIDController
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posPID(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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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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* Velocity PD controller.
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*
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* @param ikP proportional gain
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* @param ikD derivative gain
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* @param ikF feed-forward gain
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* @param ikSF a feed-forward gain to counteract static friction
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* @param iderivativeFilter A filter for filtering the derivative term.
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* @param ilogger The logger this instance will log to.
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*/
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static IterativeVelPIDController
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velPID(double ikP,
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double ikD,
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double ikF = 0,
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double ikSF = 0,
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std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
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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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* Velocity PD controller that automatically writes to the motor.
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*
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* @param imotor output motor
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* @param ikP proportional gain
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* @param ikD derivative gain
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* @param ikF 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.
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* @param iderivativeFilter A filter for filtering the derivative term.
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* @param ilogger The logger this instance will log to.
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*/
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static IterativeMotorVelocityController
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motorVelocity(Motor imotor,
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double ikP,
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double ikD,
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double ikF = 0,
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double ikSF = 0,
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std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
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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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* Velocity PD controller that automatically writes to the motor.
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*
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* @param imotor output motor
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* @param ikP proportional gain
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* @param ikD derivative gain
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* @param ikF 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.
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* @param iderivativeFilter A filter for filtering the derivative term.
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* @param ilogger The logger this instance will log to.
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*/
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static IterativeMotorVelocityController
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motorVelocity(MotorGroup imotor,
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double ikP,
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double ikD,
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double ikF = 0,
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double ikSF = 0,
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std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
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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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* Velocity PD controller that automatically writes to the motor.
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*
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* @param imotor output motor
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* @param icontroller controller to use
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*/
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static IterativeMotorVelocityController
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motorVelocity(Motor imotor,
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std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
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/**
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* Velocity PD controller that automatically writes to the motor.
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*
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* @param imotor output motor
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* @param icontroller controller to use
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*/
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static IterativeMotorVelocityController
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motorVelocity(MotorGroup imotor,
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std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
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};
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} // namespace okapi
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