tap::control::setpoint::MoveIntegralCommand::Config Struct Reference

#include <move_integral_command.hpp>

Public Attributes
float	targetIntegralChange
float	desiredSetpoint
	The desired setpoint in units.
float	integralSetpointTolerance

Detailed Description

Config struct that the user passes into the MoveIntegralCommand's constructor.

Attention

targetIntegralChange and desiredSetpoint must have the same sign.

Member Data Documentation

desiredSetpoint

float tap::control::setpoint::MoveIntegralCommand::Config::desiredSetpoint

The desired setpoint in units.

integralSetpointTolerance

float tap::control::setpoint::MoveIntegralCommand::Config::integralSetpointTolerance

The difference between the current and desired integral when the command will be considered to be complete, in the integral of units.

Attention

This value must be >= 0

targetIntegralChange

float tap::control::setpoint::MoveIntegralCommand::Config::targetIntegralChange

The desired change with units units * seconds (units of setpoint integrated with respect to time).

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

• fang-mcb-project/taproot/src/tap/control/setpoint/commands/move_integral_command.hpp