fang::turret::CounterChassisFieldYaw< Output > Class Template Reference

#include <counter_chassis_field_yaw.hpp>

Inheritance diagram for fang::turret::CounterChassisFieldYaw< Output >:

Collaboration diagram for fang::turret::CounterChassisFieldYaw< Output >:

Classes
struct	Config

Public Types
using	ModdedCascadeMotor = motor::ModdedCascadePosition< Output, RPM >
using	ControlTelemetry = telemetry::ITelemetry< Radians >
using	IntermediateTelemetry = telemetry::ITelemetry< RPM >
Public Types inherited from fang::turret::ChassisFieldYawSystem
using	Motor = motor::IPositionMotor
using	Imu = trap::communication::sensors::IImu

Public Member Functions
	CounterChassisFieldYaw (std::unique_ptr< motor::IOutputMotor< Output > > motor, std::unique_ptr< ControlTelemetry > controlTelemetry, std::unique_ptr< IntermediateTelemetry > intermediateTelemetry, std::unique_ptr< telemetry::IAngularVelocity > baseVelocityYawSensor, std::unique_ptr< Imu > imu, const Config &config)
Public Member Functions inherited from fang::turret::ChassisFieldYawSystem
	ChassisFieldYawSystem (std::unique_ptr< Motor > motor, std::unique_ptr< Imu > chassisImu, const Config &config)
void	initialize () override
void	update () override
void	setTargetFieldYaw (const Radians &yaw) override

Detailed Description

template<typename Output>
class fang::turret::CounterChassisFieldYaw< Output >

This is slightly different from other pitch systems in the fact that it takes a dualCascadePosition instead of a position motor.

This is able to add compensation for the tilt

It also requires telemetry for

Member Typedef Documentation

ControlTelemetry

template<typename Output >

using fang::turret::CounterChassisFieldYaw< Output >::ControlTelemetry = telemetry::ITelemetry<Radians>

IntermediateTelemetry

template<typename Output >

using fang::turret::CounterChassisFieldYaw< Output >::IntermediateTelemetry = telemetry::ITelemetry<RPM>

ModdedCascadeMotor

template<typename Output >

using fang::turret::CounterChassisFieldYaw< Output >::ModdedCascadeMotor = motor::ModdedCascadePosition<Output, RPM>

Constructor & Destructor Documentation

CounterChassisFieldYaw()

template<typename Output >

fang::turret::CounterChassisFieldYaw< Output >::CounterChassisFieldYaw ( std::unique_ptr< motor::IOutputMotor< Output > >  motor, std::unique_ptr< ControlTelemetry >  controlTelemetry, std::unique_ptr< IntermediateTelemetry >  intermediateTelemetry, std::unique_ptr< telemetry::IAngularVelocity >  baseVelocityYawSensor, std::unique_ptr< Imu >  imu, const Config &  config  )

inline

---

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

• fang-mcb-project/src/control/turret/gimbal/yaw/counter_chassis_field_yaw/counter_chassis_field_yaw.hpp