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include/okapi/api/control/async/asyncPosPidController.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/control/async/asyncPositionController.hpp"
+#include "okapi/api/control/async/asyncWrapper.hpp"
+#include "okapi/api/control/controllerOutput.hpp"
+#include "okapi/api/control/iterative/iterativePosPidController.hpp"
+#include "okapi/api/control/offsettableControllerInput.hpp"
+#include "okapi/api/util/timeUtil.hpp"
+#include <memory>
+
+namespace okapi {
+class AsyncPosPIDController : public AsyncWrapper<double, double>,
+                              public AsyncPositionController<double, double> {
+  public:
+  /**
+   * An async position PID controller.
+   *
+   * @param iinput The controller input. Will be turned into an OffsettableControllerInput.
+   * @param ioutput The controller output.
+   * @param itimeUtil The TimeUtil.
+   * @param ikP The proportional gain.
+   * @param ikI The integral gain.
+   * @param ikD The derivative gain.
+   * @param ikBias The controller bias.
+   * @param iratio Any external gear ratio.
+   * @param iderivativeFilter The derivative filter.
+   */
+  AsyncPosPIDController(
+    const std::shared_ptr<ControllerInput<double>> &iinput,
+    const std::shared_ptr<ControllerOutput<double>> &ioutput,
+    const TimeUtil &itimeUtil,
+    double ikP,
+    double ikI,
+    double ikD,
+    double ikBias = 0,
+    double iratio = 1,
+    std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * An async position PID controller.
+   *
+   * @param iinput The controller input.
+   * @param ioutput The controller output.
+   * @param itimeUtil The TimeUtil.
+   * @param ikP The proportional gain.
+   * @param ikI The integral gain.
+   * @param ikD The derivative gain.
+   * @param ikBias The controller bias.
+   * @param iratio Any external gear ratio.
+   * @param iderivativeFilter The derivative filter.
+   */
+  AsyncPosPIDController(
+    const std::shared_ptr<OffsetableControllerInput> &iinput,
+    const std::shared_ptr<ControllerOutput<double>> &ioutput,
+    const TimeUtil &itimeUtil,
+    double ikP,
+    double ikI,
+    double ikD,
+    double ikBias = 0,
+    double iratio = 1,
+    std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Sets the "absolute" zero position of the controller to its current position.
+   */
+  void tarePosition() override;
+
+  /**
+   * This implementation does not respect the maximum velocity.
+   *
+   * @param imaxVelocity Ignored.
+   */
+  void setMaxVelocity(std::int32_t imaxVelocity) override;
+
+  /**
+   * Set controller gains.
+   *
+   * @param igains The new gains.
+   */
+  void setGains(const IterativePosPIDController::Gains &igains);
+
+  /**
+   * Gets the current gains.
+   *
+   * @return The current gains.
+   */
+  IterativePosPIDController::Gains getGains() const;
+
+  protected:
+  std::shared_ptr<OffsetableControllerInput> offsettableInput;
+  std::shared_ptr<IterativePosPIDController> internalController;
+};
+} // namespace okapi