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

#include <modded_cascade_motor.hpp>

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

Collaboration diagram for fang::motor::ModdedCascadeMotor< 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::DualModdedPid< Control, Intermediate, Output, Time, MainError, IntermediateError >
using	Config = Pid::Config
using	MainModder = Pid::MainModder
using	IntermediateModder = Pid::IntermediateModder

Public Member Functions
	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)

Detailed Description

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

This functions exactly as DualCascadeMotor (taking an output motor and applying PID based on the telemetry it recieves)

This has an optional modders for the PID for feedForward.

For example, the output can be modded or the intermediate pid (target speed in most cases) can be given an additoinal speed target ahead of time

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::ModdedCascadeMotor< 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::ModdedCascadeMotor< 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::ModdedCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::ControlTelemetry = telemetry::ITelemetry<Control>

IntermediateModder

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

using fang::motor::ModdedCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::IntermediateModder = Pid::IntermediateModder

IntermediateTelemetry

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

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

MainModder

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

using fang::motor::ModdedCascadeMotor< Output, Control, Intermediate, Time, MainError, IntermediateError >::MainModder = Pid::MainModder

Pid

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

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

Constructor & Destructor Documentation

ModdedCascadeMotor()

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

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>>()  )

inline

Member Function Documentation

initialize()

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

void fang::motor::ModdedCascadeMotor< 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::ModdedCascadeMotor< 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::ModdedCascadeMotor< 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::ModdedCascadeMotor< 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/modded_cascade_motor/modded_cascade_motor.hpp