146 lines
4.7 KiB
C++
146 lines
4.7 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 "okapi/api/control/async/asyncPositionController.hpp"
|
|
#include "okapi/api/device/motor/abstractMotor.hpp"
|
|
#include "okapi/api/util/logging.hpp"
|
|
#include "okapi/api/util/timeUtil.hpp"
|
|
|
|
namespace okapi {
|
|
/**
|
|
* Closed-loop controller that uses the V5 motor's onboard control to move. Input units are whatever
|
|
* units the motor is in.
|
|
*/
|
|
class AsyncPosIntegratedController : public AsyncPositionController<double, double> {
|
|
public:
|
|
/**
|
|
* Closed-loop controller that uses the V5 motor's onboard control to move. Input units are
|
|
* whatever units the motor is in. Throws a std::invalid_argument exception if the gear ratio is
|
|
* zero.
|
|
*
|
|
* @param imotor The motor to control.
|
|
* @param ipair The gearset.
|
|
* @param imaxVelocity The maximum velocity after gearing.
|
|
* @param itimeUtil The TimeUtil.
|
|
* @param ilogger The logger this instance will log to.
|
|
*/
|
|
AsyncPosIntegratedController(const std::shared_ptr<AbstractMotor> &imotor,
|
|
const AbstractMotor::GearsetRatioPair &ipair,
|
|
std::int32_t imaxVelocity,
|
|
const TimeUtil &itimeUtil,
|
|
const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
|
|
|
|
/**
|
|
* Sets the target for the controller.
|
|
*/
|
|
void setTarget(double itarget) override;
|
|
|
|
/**
|
|
* Gets the last set target, or the default target if none was set.
|
|
*
|
|
* @return the last target
|
|
*/
|
|
double getTarget() override;
|
|
|
|
/**
|
|
* @return The most recent value of the process variable.
|
|
*/
|
|
double getProcessValue() const override;
|
|
|
|
/**
|
|
* Returns the last error of the controller. Does not update when disabled.
|
|
*/
|
|
double getError() const override;
|
|
|
|
/**
|
|
* Returns whether the controller has settled at the target. Determining what settling means is
|
|
* implementation-dependent.
|
|
*
|
|
* If the controller is disabled, this method must return true.
|
|
*
|
|
* @return whether the controller is settled
|
|
*/
|
|
bool isSettled() override;
|
|
|
|
/**
|
|
* Resets the controller's internal state so it is similar to when it was first initialized, while
|
|
* keeping any user-configured information.
|
|
*/
|
|
void reset() override;
|
|
|
|
/**
|
|
* Changes whether the controller is off or on. Turning the controller on after it was off will
|
|
* cause the controller to move to its last set target, unless it was reset in that time.
|
|
*/
|
|
void flipDisable() override;
|
|
|
|
/**
|
|
* Sets whether the controller is off or on. Turning the controller on after it was off will
|
|
* cause the controller to move to its last set target, unless it was reset in that time.
|
|
*
|
|
* @param iisDisabled whether the controller is disabled
|
|
*/
|
|
void flipDisable(bool iisDisabled) override;
|
|
|
|
/**
|
|
* Returns whether the controller is currently disabled.
|
|
*
|
|
* @return whether the controller is currently disabled
|
|
*/
|
|
bool isDisabled() const override;
|
|
|
|
/**
|
|
* Blocks the current task until the controller has settled. Determining what settling means is
|
|
* implementation-dependent.
|
|
*/
|
|
void waitUntilSettled() override;
|
|
|
|
/**
|
|
* Writes the value of the controller output. This method might be automatically called in another
|
|
* thread by the controller. The range of input values is expected to be [-1, 1].
|
|
*
|
|
* @param ivalue the controller's output in the range [-1, 1]
|
|
*/
|
|
void controllerSet(double ivalue) override;
|
|
|
|
/**
|
|
* Sets the "absolute" zero position of the controller to its current position.
|
|
*/
|
|
void tarePosition() override;
|
|
|
|
/**
|
|
* Sets a new maximum velocity in motor RPM [0-600].
|
|
*
|
|
* @param imaxVelocity The new maximum velocity in motor RPM [0-600].
|
|
*/
|
|
void setMaxVelocity(std::int32_t imaxVelocity) override;
|
|
|
|
/**
|
|
* Stops the motor mid-movement. Does not change the last set target.
|
|
*/
|
|
virtual void stop();
|
|
|
|
protected:
|
|
std::shared_ptr<Logger> logger;
|
|
TimeUtil timeUtil;
|
|
std::shared_ptr<AbstractMotor> motor;
|
|
AbstractMotor::GearsetRatioPair pair;
|
|
std::int32_t maxVelocity;
|
|
double lastTarget{0};
|
|
double offset{0};
|
|
bool controllerIsDisabled{false};
|
|
bool hasFirstTarget{false};
|
|
std::unique_ptr<SettledUtil> settledUtil;
|
|
|
|
/**
|
|
* Resumes moving after the controller is reset. Should not cause movement if the controller is
|
|
* turned off, reset, and turned back on.
|
|
*/
|
|
virtual void resumeMovement();
|
|
};
|
|
} // namespace okapi
|