Config struct that the user passes into the UnjamIntegralCommand's constructor. More...

#include <unjam_integral_command.hpp>

Public Attributes
float	targetUnjamIntegralChange

float	unjamSetpoint

uint32_t	maxWaitTime

uint16_t	targetCycleCount

Detailed Description

Config struct that the user passes into the UnjamIntegralCommand's constructor.

Member Data Documentation

◆ maxWaitTime

uint32_t tap::control::setpoint::UnjamIntegralCommand::Config::maxWaitTime

The maximum amount of time the controller will wait for the subsystem to reach targetUnjamIntegralChange in milliseconds before trying to move in the opposite direction.

Attention: This value must be > 1000 * (targetUnjamIntegralChange / unjamSetpoint) since this is the minimum possible time it will take for the motor to rotate targetUnjamIntegralChange units.

◆ targetCycleCount

uint16_t tap::control::setpoint::UnjamIntegralCommand::Config::targetCycleCount

The number of cycles to attempt to rotate the velocity setpoint subsystem back and forth.

Attention: This value must be positive and > 0.

◆ targetUnjamIntegralChange

float tap::control::setpoint::UnjamIntegralCommand::Config::targetUnjamIntegralChange

The target integral setpoint from the current integral value with units units * seconds (units of setpoint integrated with respect to time) that the integral setpoint subsystem will move back and forth by with unjamming.

Attention: This value must be positive and > 0.

◆ unjamSetpoint

float tap::control::setpoint::UnjamIntegralCommand::Config::unjamSetpoint

The target setpoint in units that the integral setpoint subsystem will move back and forth at.

Attention: This value must be positive and > 0.

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