Initial commit

include/okapi/api/control/iterative/iterativeMotorVelocityController.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/iterative/iterativeVelocityController.hpp"
+#include "okapi/api/device/motor/abstractMotor.hpp"
+#include <array>
+#include <memory>
+
+namespace okapi {
+class IterativeMotorVelocityController : public IterativeVelocityController<double, double> {
+  public:
+  /**
+   * Velocity controller that automatically writes to the motor.
+   */
+  IterativeMotorVelocityController(
+    const std::shared_ptr<AbstractMotor> &imotor,
+    const std::shared_ptr<IterativeVelocityController<double, double>> &icontroller);
+
+  /**
+   * Do one iteration of the controller.
+   *
+   * @param inewReading new measurement
+   * @return controller output
+   */
+  double step(double ireading) override;
+
+  /**
+   * Sets the target for the controller.
+   */
+  void setTarget(double itarget) override;
+
+  /**
+   * Writes the value of the controller output. This method might be automatically called in another
+   * thread by the controller. The range of input values is expected to be `[-1, 1]`.
+   *
+   * @param ivalue the controller's output in the range `[-1, 1]`
+   */
+  void controllerSet(double ivalue) override;
+
+  /**
+   * Gets the last set target, or the default target if none was set.
+   *
+   * @return the last target
+   */
+  double getTarget() override;
+
+  /**
+   * @return The most recent value of the process variable.
+   */
+  double getProcessValue() const override;
+
+  /**
+   * Returns the last calculated output of the controller.
+   */
+  double getOutput() const override;
+
+  /**
+   * Get the upper output bound.
+   *
+   * @return  the upper output bound
+   */
+  double getMaxOutput() override;
+
+  /**
+   * Get the lower output bound.
+   *
+   * @return the lower output bound
+   */
+  double getMinOutput() override;
+
+  /**
+   * Returns the last error of the controller. Does not update when disabled.
+   */
+  double getError() const override;
+
+  /**
+   * Returns whether the controller has settled at the target. Determining what settling means is
+   * implementation-dependent.
+   *
+   * @return whether the controller is settled
+   */
+  bool isSettled() override;
+
+  /**
+   * Set time between loops in ms.
+   *
+   * @param isampleTime time between loops in ms
+   */
+  void setSampleTime(QTime isampleTime) override;
+
+  /**
+   * Set controller output bounds.
+   *
+   * @param imax max output
+   * @param imin min output
+   */
+  void setOutputLimits(double imax, double imin) override;
+
+  /**
+   * Sets the (soft) limits for the target range that controllerSet() scales into. The target
+   * computed by controllerSet() is scaled into the range [-itargetMin, itargetMax].
+   *
+   * @param itargetMax The new max target for controllerSet().
+   * @param itargetMin The new min target for controllerSet().
+   */
+  void setControllerSetTargetLimits(double itargetMax, double itargetMin) override;
+
+  /**
+   * Resets the controller's internal state so it is similar to when it was first initialized, while
+   * keeping any user-configured information.
+   */
+  void reset() override;
+
+  /**
+   * Changes whether the controller is off or on. Turning the controller on after it was off will
+   * cause the controller to move to its last set target, unless it was reset in that time.
+   */
+  void flipDisable() override;
+
+  /**
+   * Sets whether the controller is off or on. Turning the controller on after it was off will
+   * cause the controller to move to its last set target, unless it was reset in that time.
+   *
+   * @param iisDisabled whether the controller is disabled
+   */
+  void flipDisable(bool iisDisabled) override;
+
+  /**
+   * Returns whether the controller is currently disabled.
+   *
+   * @return whether the controller is currently disabled
+   */
+  bool isDisabled() const override;
+
+  /**
+   * Get the last set sample time.
+   *
+   * @return sample time
+   */
+  QTime getSampleTime() const override;
+
+  protected:
+  std::shared_ptr<AbstractMotor> motor;
+  std::shared_ptr<IterativeVelocityController<double, double>> controller;
+};
+} // namespace okapi