fang::turret::BasicFieldPitchSystem Class Reference

#include <basic_field_pitch_system.hpp>

Inheritance diagram for fang::turret::BasicFieldPitchSystem:

Collaboration diagram for fang::turret::BasicFieldPitchSystem:

Classes
struct	Config

Public Types
using	PitchRange = math::Range< Radians >
using	Motor = motor::IPositionMotor
using	Imu = trap::communication::sensors::IImu

Public Member Functions
	BasicFieldPitchSystem (std::unique_ptr< Motor > motor, const Config &config)
void	initialize () override
void	update () override
void	setTargetFieldPitch (const Radians &pitch) override

Detailed Description

Dead reckoning field pitch system. Assumes the robot is flat, making it technically a field pitch system

This clamps the pitch to prevent damage tothe robot.

Member Typedef Documentation

Imu

using fang::turret::BasicFieldPitchSystem::Imu = trap::communication::sensors::IImu

Motor

using fang::turret::BasicFieldPitchSystem::Motor = motor::IPositionMotor

PitchRange

using fang::turret::BasicFieldPitchSystem::PitchRange = math::Range<Radians>

Constructor & Destructor Documentation

BasicFieldPitchSystem()

fang::turret::BasicFieldPitchSystem::BasicFieldPitchSystem	(	std::unique_ptr< Motor >	motor,
		const Config &	config
	)

Member Function Documentation

initialize()

void fang::turret::BasicFieldPitchSystem::initialize ( )

override

setTargetFieldPitch()

void fang::turret::BasicFieldPitchSystem::setTargetFieldPitch ( const Radians &  pitch )

override

Note that the pitch is relative to the robot assuming the 0 position of the motor is flat and horizontal

update()

void fang::turret::BasicFieldPitchSystem::update ( )

override

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

• fang-mcb-project/src/control/turret/gimbal/pitch/basic_field_pitch_system/basic_field_pitch_system.hpp
• fang-mcb-project/src/control/turret/gimbal/pitch/basic_field_pitch_system/basic_field_pitch_system.cpp