tap::control::setpoint::SetpointContinuousJamChecker Class Reference

#include <setpoint_continuous_jam_checker.hpp>

Public Member Functions
	SetpointContinuousJamChecker (SetpointSubsystem *setpointSubsystem, float distanceTolerance, uint32_t temporalTolerance)
void	restart ()
bool	check ()
float	getJamSetpointTolerance () const

Detailed Description

A functor (function object) to be used for setpoint subsystem jam detection.

Uses a conditional timeout to continuously check if the subsystem's current position is within an acceptable range of the desired position. If it is outside of the acceptable range for too long then the timeout times out and the subsystem is considered jammed.

Constructor & Destructor Documentation

SetpointContinuousJamChecker()

tap::control::setpoint::SetpointContinuousJamChecker::SetpointContinuousJamChecker ( SetpointSubsystem *  setpointSubsystem, float  distanceTolerance, uint32_t  temporalTolerance  )

inline

Parameters

[in]	setpointSubsystem	the setpoint subsystem to do jam checking on.
[in]	distanceTolerance	the acceptable distance between the setpoint and current position.
[in]	temporalTolerance	the maximum amount of time the distance can be greater than the distance tolerance before the system is considered jammed.

Member Function Documentation

check()

bool tap::control::setpoint::SetpointContinuousJamChecker::check ( )

inline

Update subsystem jam detection and check whether subsystem is jammed. If subsystem is within distance tolerance of desired value then timer is reset, even if at the time of call it would have expired, as being within tolerance is checked first.

Note

Should be called once per subsystem refresh (it's like an execute)

Returns

true if subsystem is jammed, false otherwise

getJamSetpointTolerance()

float tap::control::setpoint::SetpointContinuousJamChecker::getJamSetpointTolerance ( ) const

inline

Returns

the jamming distance tolerance of this jam checker

restart()

void tap::control::setpoint::SetpointContinuousJamChecker::restart ( )

inline

Resets the jam timer

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

• fang-mcb-project/taproot/src/tap/control/setpoint/algorithms/setpoint_continuous_jam_checker.hpp