89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
/*
|
|
This Source Code Form is subject to the terms of the Mozilla Public
|
|
License, v. 2.0. If a copy of the MPL was not distributed with this
|
|
file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "EZ-Template/util.hpp"
|
|
#include "api.h"
|
|
|
|
namespace ez {
|
|
class slew {
|
|
public:
|
|
slew();
|
|
|
|
/**
|
|
* Struct for constants.
|
|
*/
|
|
struct Constants {
|
|
double min_speed = 0;
|
|
double distance_to_travel = 0;
|
|
};
|
|
Constants constants;
|
|
|
|
/**
|
|
* Sets constants for slew. Slew ramps up the speed of the robot until the set distance is traveled.
|
|
*
|
|
* \param distance
|
|
* the distance the robot travels before reaching max speed
|
|
* \param minimum_speed
|
|
* the starting speed for the movement
|
|
*/
|
|
slew(double distance, int minimum_speed);
|
|
|
|
/**
|
|
* Sets constants for slew. Slew ramps up the speed of the robot until the set distance is traveled.
|
|
*
|
|
* \param distance
|
|
* the distance the robot travels before reaching max speed
|
|
* \param minimum_speed
|
|
* the starting speed for the movement
|
|
*/
|
|
void constants_set(double distance, int minimum_speed);
|
|
Constants constants_get();
|
|
|
|
/**
|
|
* Initializes slew for the motion.
|
|
*
|
|
* \param enabled
|
|
* true enables slew, false disables slew
|
|
* \param maximum_speed
|
|
* the target speed the robot will ramp up too
|
|
* \param target
|
|
* the target position for the motion
|
|
* \param current
|
|
* the position at the start of the motion
|
|
*/
|
|
void initialize(bool enabled, double maximum_speed, double target, double current);
|
|
|
|
/**
|
|
* Iterates slew and ramps up speed the farther along the motion the robot gets.
|
|
*
|
|
* \param current
|
|
* current sensor value
|
|
*/
|
|
double iterate(double current);
|
|
|
|
/**
|
|
* Returns true if slew is enabled, and false if it isn't.
|
|
*/
|
|
bool enabled();
|
|
|
|
/**
|
|
* Returns the last output of iterate.
|
|
*/
|
|
double output();
|
|
|
|
private:
|
|
int sign = 0;
|
|
double error = 0;
|
|
double x_intercept = 0;
|
|
double y_intercept = 0;
|
|
double slope = 0;
|
|
double last_output = 0;
|
|
bool is_enabled = false;
|
|
double max_speed = 0;
|
|
};
|
|
}; // namespace ez
|