sylib::VoltageEstimation Class Reference

Feedforward Controller. More...

#include <math.hpp>

Public Member Functions
	VoltageEstimation (kv_fn_t kV, double motorGearing=200)
	Creates a simple feedforward controller for a V5 motor. More...
double	estimate (double rpm)
	Outputs an estimated voltage value for acheiving the desired RPM based on the kV function supplied in the constructor. More...
kv_fn_t	getKv () const
	Gets the current kV function. More...
double	getMotorGearing () const
	Gets the set motor gearing for the estimator. More...
void	setkV (kv_fn_t value)
	Sets the kV function. More...
double	getOutput () const
	Gets the current stored output value without adding any new input. More...

Detailed Description

Feedforward Controller.

Constructor & Destructor Documentation

VoltageEstimation()

sylib::VoltageEstimation::VoltageEstimation	(	kv_fn_t	kV,
		double	motorGearing = 200
	)

Creates a simple feedforward controller for a V5 motor.

Parameters

kV	A lambda function that takes double as an input for target RPM and returns a voltage constant to use for the estimation
motorGearing	The output speed of the motor, in RPM, if the motor internally is spinning at 3600 RPM. 200 is default for a green motor cartridge

Member Function Documentation

estimate()

double sylib::VoltageEstimation::estimate

(

double

rpm

)

Outputs an estimated voltage value for acheiving the desired RPM based on the kV function supplied in the constructor.

Parameters

rpm	The target velocity of the motor, in RPM

getKv()

kv_fn_t sylib::VoltageEstimation::getKv

(

)

const

Gets the current kV function.

Returns

kV function

getMotorGearing()

double sylib::VoltageEstimation::getMotorGearing

(

)

const

Gets the set motor gearing for the estimator.

Returns

Output RPM of the motor at 100% velocity

getOutput()

double sylib::VoltageEstimation::getOutput

(

)

const

Gets the current stored output value without adding any new input.

Returns

Voltage estimate

setkV()

void sylib::VoltageEstimation::setkV

(

kv_fn_t

value

)

Sets the kV function.

Parameters

value

A lambda function that takes double as an input for target RPM and returns a voltage constant to use for the estimation