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include/okapi/api/control/async/asyncVelPidController.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/asyncVelocityController.hpp"
+#include "okapi/api/control/async/asyncWrapper.hpp"
+#include "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/control/controllerOutput.hpp"
+#include "okapi/api/control/iterative/iterativeVelPidController.hpp"
+#include "okapi/api/util/timeUtil.hpp"
+#include <memory>
+
+namespace okapi {
+class AsyncVelPIDController : public AsyncWrapper<double, double>,
+                              public AsyncVelocityController<double, double> {
+  public:
+  /**
+   * An async velocity PID controller.
+   *
+   * @param iinput The controller input.
+   * @param ioutput The controller output.
+   * @param itimeUtil The TimeUtil.
+   * @param ikP The proportional gain.
+   * @param ikD The derivative gain.
+   * @param ikF The feed-forward gain.
+   * @param ikSF A feed-forward gain to counteract static friction.
+   * @param ivelMath The VelMath used for calculating velocity.
+   * @param iratio Any external gear ratio.
+   * @param iderivativeFilter The derivative filter.
+   */
+  AsyncVelPIDController(
+    const std::shared_ptr<ControllerInput<double>> &iinput,
+    const std::shared_ptr<ControllerOutput<double>> &ioutput,
+    const TimeUtil &itimeUtil,
+    double ikP,
+    double ikD,
+    double ikF,
+    double ikSF,
+    std::unique_ptr<VelMath> ivelMath,
+    double iratio = 1,
+    std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Set controller gains.
+   *
+   * @param igains The new gains.
+   */
+  void setGains(const IterativeVelPIDController::Gains &igains);
+
+  /**
+   * Gets the current gains.
+   *
+   * @return The current gains.
+   */
+  IterativeVelPIDController::Gains getGains() const;
+
+  protected:
+  std::shared_ptr<IterativeVelPIDController> internalController;
+};
+} // namespace okapi