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

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

Public Member Functions
	TiltPidModder (std::unique_ptr< telemetry::IAngularPosition > fieldPitchSensor, const Config &config)

Output	getModdedOutput (const Output &output) override

Public Member Functions inherited from trap::algorithms::IPidModder< Output >
virtual	~IPidModder ()=default

Detailed Description

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

This assumes the head is somewhat balanced.

sine is zero

If the robot's head is tilted backwards, it needs a forward force if the robot's head is tilted forwards, it needs a backwards force

If you do the math it's related to trigonometry

Output needs to be an arithmetic type

WARNING: This assumes that zero is level (no compensation needed)

Constructor & Destructor Documentation

template<typename Output >

fang::turret::TiltPidModder< Output >::TiltPidModder	(	std::unique_ptr< telemetry::IAngularPosition >	fieldPitchSensor,
		const Config &	config
	)

inline

This needs to provide the angular position relative to gravity.

fieldPitchSensor should be zero when the turret head or balanced object is level.

Tilted down should be a negative angle (if need be, the scalingConstant)

template<typename Output >

Output fang::turret::TiltPidModder< Output >::getModdedOutput ( const Output & output )

inlineoverridevirtual

Note that this strips the unit protection of the fieldPitchSensor. The scaling constant is coupled to the raw value.

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

fang-mcb-project/src/control/turret/gimbal/pitch/tilt_pid_modder/tilt_pid_modder.hpp