tap::algorithms::Ramp Class Reference

#include <ramp.hpp>

Public Member Functions
	Ramp (float initialValue=0.0f)
void	reset (float val)
	Sets the target and value to the passed in val.
void	setTarget (float target)
	Sets a new target ramp value.
void	setValue (float value)
	Sets the value to value.
void	update (float increment)
float	getValue () const
	Returns the current value being generated by the ramp.
bool	isTargetReached () const
	Returns true if the value == target.
float	getTarget () const
	Returns the target value (where the ramp generator will head torwards).

Detailed Description

An output value is incremented or decremented at every call to update until target has been reached.

This is very similar to modm's ramp except for one difference: rather than setting the increment at the beginning, you set the increment each time, which allows you to take into account systems where time increment is not constant.

Constructor & Destructor Documentation

Ramp()

tap::algorithms::Ramp::Ramp ( float  initialValue = 0.0f )

explicit

Create a ramp generator.

Parameters

initialValue

The starting value

Member Function Documentation

getTarget()

float tap::algorithms::Ramp::getTarget

(

)

const

Returns the target value (where the ramp generator will head torwards).

getValue()

float tap::algorithms::Ramp::getValue

(

)

const

Returns the current value being generated by the ramp.

isTargetReached()

bool tap::algorithms::Ramp::isTargetReached

(

)

const

Returns true if the value == target.

reset()

void tap::algorithms::Ramp::reset

(

float

val

)

Sets the target and value to the passed in val.

setTarget()

void tap::algorithms::Ramp::setTarget

(

float

target

)

Sets a new target ramp value.

setValue()

void tap::algorithms::Ramp::setValue

(

float

value

)

Sets the value to value.

update()

void tap::algorithms::Ramp::update

(

float

increment

)

Updates the ramp by incrementing or decrementing the target by the increment.

Note

For expected results, call this function every controller iteration.

The increment should be based on the time.
For example, if you are ramping a motor angle and want a motor to turn at some rotationSpeed pass in the following: (currtime - prevtime) * rotationSpeed

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

• fang-mcb-project/taproot/src/tap/algorithms/ramp.hpp
• fang-mcb-project/taproot/src/tap/algorithms/ramp.cpp