fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError > Class Template Reference

#include <dual_cascade_motor.hpp>

Inheritance diagram for fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >:

Collaboration diagram for fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >:

Public Types
using	ControlledMotor = IOutputMotor< Output >
using	ControlTelemetry = telemetry::ITelemetry< Control >
using	IntermediateTelemetry = telemetry::ITelemetry< Intermediate >
using	Pid = trap::algorithms::DualCascadePid< Control, Intermediate, Output, Time, MainError, IntermediateError >
using	Config = Pid::Config

Public Member Functions
	DualCascadeMotor (const Config &config, std::unique_ptr< ControlledMotor > motor, std::unique_ptr< ControlTelemetry > controlTelemetry, std::unique_ptr< IntermediateTelemetry > intermediateTelemetry)
void	initialize () override
void	update () override
void	update (const Time &delta)
void	setTarget (const Control &control)

Detailed Description

template<typename Output, typename Control, typename Intermediate, typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>
class fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >

Template parameters: Output - the output motor it accepts Control - the type used for controlling and intermediate calculations of Pid Intermediate - the type used in between controlling and outputting (2nd pid)

Member Typedef Documentation

Config

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

using fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::Config = Pid::Config

ControlledMotor

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

using fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::ControlledMotor = IOutputMotor<Output>

ControlTelemetry

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

using fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::ControlTelemetry = telemetry::ITelemetry<Control>

IntermediateTelemetry

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

using fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::IntermediateTelemetry = telemetry::ITelemetry<Intermediate>

Pid

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

using fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::Pid = trap::algorithms::DualCascadePid < Control, Intermediate, Output, Time, MainError, IntermediateError >

Constructor & Destructor Documentation

DualCascadeMotor()

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::DualCascadeMotor ( const Config &  config, std::unique_ptr< ControlledMotor >  motor, std::unique_ptr< ControlTelemetry >  controlTelemetry, std::unique_ptr< IntermediateTelemetry >  intermediateTelemetry  )

inline

Member Function Documentation

initialize()

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

void fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::initialize ( )

inlineoverride

setTarget()

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

void fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::setTarget ( const Control &  control )

inline

update() [1/2]

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

void fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::update ( )

inlineoverride

update() [2/2]

template<typename Output , typename Control , typename Intermediate , typename Time = Seconds, typename MainError = Control, typename IntermediateError = Intermediate>

void fang::motor::DualCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::update ( const Time &  delta )

inline

Back door function used for testing until we DI chrono based classes, too.

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The documentation for this class was generated from the following file:

• fang-mcb-project/src/driver/motor/pid/dual_cascade_motor/dual_cascade_motor.hpp