80 lines
2.1 KiB
C++
80 lines
2.1 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/closedLoopController.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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* Closed-loop controller that steps iteratively using the step method below.
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*
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* `ControllerOutput::controllerSet()` should set the controller's target to the input scaled by
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* the output bounds.
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*/
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template <typename Input, typename Output>
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class IterativeController : public ClosedLoopController<Input, Output> {
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public:
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/**
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* Do one iteration of the controller.
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*
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* @param ireading A new measurement.
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* @return The controller output.
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*/
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virtual Output step(Input ireading) = 0;
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/**
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* Returns the last calculated output of the controller.
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*/
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virtual Output getOutput() const = 0;
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/**
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* Set controller output bounds.
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*
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* @param imax max output
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* @param imin min output
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*/
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virtual void setOutputLimits(Output imax, Output imin) = 0;
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/**
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* Sets the (soft) limits for the target range that controllerSet() scales into. The target
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* computed by `controllerSet()` is scaled into the range `[-itargetMin, itargetMax]`.
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*
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* @param itargetMax The new max target for `controllerSet()`.
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* @param itargetMin The new min target for `controllerSet()`.
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*/
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virtual void setControllerSetTargetLimits(Output itargetMax, Output itargetMin) = 0;
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/**
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* Get the upper output bound.
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*
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* @return the upper output bound
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*/
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virtual Output getMaxOutput() = 0;
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/**
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* Get the lower output bound.
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*
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* @return the lower output bound
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*/
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virtual Output getMinOutput() = 0;
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/**
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* Set time between loops.
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*
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* @param isampleTime time between loops
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*/
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virtual void setSampleTime(QTime isampleTime) = 0;
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/**
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* Get the last set sample time.
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*
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* @return sample time
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*/
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virtual QTime getSampleTime() const = 0;
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};
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} // namespace okapi
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