TBH Controller. More...

#include <math.hpp>

Public Member Functions
	TakeBackHalfController (double kH, std::shared_ptr< double > error)
	Creates an Take Back Half controller for a V5 motor. More...

double	update ()
	Calculates controller output based on the current error value. More...

double	getOutput () const
	Gets the current stored output value without calculating a new value. More...

double	getkH () const
	Gets the kH constant. More...

double	getTBH () const
	Gets the current stored TBH value. More...

void	setkH (double gain)
	Sets the kH constant. More...

double	getCurrentTime () const
	Gets the current time the controller is using. More...

double	operator* () const
	Operator overload for getting the current filter ouput. More...

Detailed Description

TBH Controller.

Constructor & Destructor Documentation

◆ TakeBackHalfController()

sylib::TakeBackHalfController::TakeBackHalfController	(	double	kH,
		std::shared_ptr< double >	error
	)

Creates an Take Back Half controller for a V5 motor.

Parameters

kH	TBH gain
error	A pointer to a double containing the error value to use for calculations

Member Function Documentation

◆ getCurrentTime()

double sylib::TakeBackHalfController::getCurrentTime ( ) const

Gets the current time the controller is using.

Returns: Time in milliseconds

◆ getkH()

double sylib::TakeBackHalfController::getkH ( ) const

Gets the kH constant.

Returns: kH value

◆ getOutput()

double sylib::TakeBackHalfController::getOutput ( ) const

Gets the current stored output value without calculating a new value.

Returns: Controller output

◆ getTBH()

double sylib::TakeBackHalfController::getTBH ( ) const

Gets the current stored TBH value.

Returns: TBH value

◆ operator*()

double sylib::TakeBackHalfController::operator* ( ) const

Operator overload for getting the current filter ouput.

Returns: Controller output

◆ setkH()

void sylib::TakeBackHalfController::setkH ( double gain )

Sets the kH constant.