fang::motor::ModdedCascadeGm6020 Class Reference

#include <modded_cascade_gm6020.hpp>

Inheritance diagram for fang::motor::ModdedCascadeGm6020:

Collaboration diagram for fang::motor::ModdedCascadeGm6020:

Classes
struct	Config

Public Types
using	Motor = trap::motor::DjiGM6020
using	PidMotor = ModdedCascadePosition< trap::motor::DjiMotorOutput, RPM >
Public Types inherited from fang::motor::ModdedCascadePosition< trap::motor::DjiMotorOutput, RPM >
using	CascadeMotor = ModdedCascadeMotor< trap::motor::DjiMotorOutput, Radians, RPM, Seconds, trap::algorithms::RingRadians >
using	Config = CascadeMotor::Config
Public Types inherited from fang::motor::ModdedCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >
using	ControlledMotor = IOutputMotor< Output >
using	ControlTelemetry = telemetry::ITelemetry< Control >
using	IntermediateTelemetry = telemetry::ITelemetry< Intermediate >
using	Pid = trap::algorithms::DualModdedPid< Control, Intermediate, Output, Time, MainError, IntermediateError >
using	Config = Pid::Config
using	MainModder = Pid::MainModder
using	IntermediateModder = Pid::IntermediateModder

Public Member Functions
	ModdedCascadeGm6020 (Drivers &drivers, const Config &config, std::unique_ptr< MainModder > mainModder=std::make_unique< trap::algorithms::NullPidModder< RPM > >(), std::unique_ptr< IntermediateModder > intermediateModder=std::make_unique< trap::algorithms::NullPidModder< trap::motor::DjiMotorOutput > >())
Public Member Functions inherited from fang::motor::ModdedCascadePosition< trap::motor::DjiMotorOutput, RPM >
void	setTargetPosition (const Radians &position) override
Public Member Functions inherited from fang::motor::ModdedCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >
	ModdedCascadeMotor (const Config &config, std::unique_ptr< ControlledMotor > motor, std::unique_ptr< ControlTelemetry > controlTelemetry, std::unique_ptr< IntermediateTelemetry > intermediateTelemetry, std::unique_ptr< MainModder > mainModder=std::make_unique< trap::algorithms::NullPidModder< Intermediate > >(), std::unique_ptr< IntermediateModder > intermediateModder=std::make_unique< trap::algorithms::NullPidModder< Output > >())
void	initialize () override
void	update () override
void	update (const Time &delta)
void	setTarget (const Control &control)

Member Typedef Documentation

Motor

using fang::motor::ModdedCascadeGm6020::Motor = trap::motor::DjiGM6020

PidMotor

using fang::motor::ModdedCascadeGm6020::PidMotor = ModdedCascadePosition<trap::motor::DjiMotorOutput, RPM>

Constructor & Destructor Documentation

ModdedCascadeGm6020()

fang::motor::ModdedCascadeGm6020::ModdedCascadeGm6020 ( Drivers &  drivers, const Config &  config, std::unique_ptr< MainModder >  mainModder = std::make_unique<trap::algorithms::NullPidModder<RPM>>(), std::unique_ptr< IntermediateModder >  intermediateModder = std::make_unique<trap::algorithms::NullPidModder<trap::motor::DjiMotorOutput>>()  )

inline

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

• fang-mcb-project/src/driver/motor/pid/modded_cascade_position/modded_cascade_gm6020.hpp