Class BasicFieldPitchSystem

• Defined in File basic_field_pitch_system.hpp

Nested Relationships

Nested Types

• Struct BasicFieldPitchSystem::Config

Inheritance Relationships

Base Type

• public IFieldPitchSystem

Derived Type

• public fang::turret::GM6020BasicFieldPitch (Class GM6020BasicFieldPitch)

Class Documentation

class BasicFieldPitchSystem : public virtual IFieldPitchSystem

Dead reckoning field pitch system. Assumes the robot is flat, making it technically a field pitch system

This clamps the pitch to prevent damage tothe robot.

Subclassed by fang::turret::GM6020BasicFieldPitch

Public Types

using PitchRange = math::Range<Radians>

using Motor = motor::IPositionMotor

using Imu = trap::communication::sensors::IImu

Public Functions

BasicFieldPitchSystem(std::unique_ptr<Motor> motor, const Config &config)

void initialize() override

void update() override

void setTargetFieldPitch(const Radians &pitch) override

Note that the pitch is relative to the robot assuming the 0 position of the motor is flat and horizontal

struct Config

Public Members

Radians pitchError

PitchRange pitchRange