D Controller. More...

#include <math.hpp>

Public Member Functions
	DerivativeController (double kD, std::shared_ptr< double > error, double motorGearing=200)
	Creates a D controller for a V5 motor. More...

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

double	getkD () const
	Gets the kD constant. More...

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

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

uint32_t	getdT () const
	Gets the most recent time difference between updates. More...

void	setkD (double gain)
	Sets the kD constant. More...

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

Detailed Description

D Controller.

Constructor & Destructor Documentation

◆ DerivativeController()

sylib::DerivativeController::DerivativeController	(	double	kD,
		std::shared_ptr< double >	error,
		double	motorGearing = `200`
	)

Creates a D controller for a V5 motor.

Parameters

kD	Derivative gain
error	A pointer to a double containing the error value to use for calculations
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

◆ getCurrentTime()

double sylib::DerivativeController::getCurrentTime ( ) const

Gets the current time the controller is using.

Returns: Time in milliseconds

◆ getdT()

uint32_t sylib::DerivativeController::getdT ( ) const

Gets the most recent time difference between updates.

Returns: Time in milliseconds

◆ getkD()

double sylib::DerivativeController::getkD ( ) const

Gets the kD constant.

Returns: kD value

◆ getOutput()

double sylib::DerivativeController::getOutput ( ) const

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

Returns: Controller output

◆ operator*()

double sylib::DerivativeController::operator* ( )

Operator overload for getting the current filter ouput.

Returns: Controller output

◆ setkD()

void sylib::DerivativeController::setkD ( double gain )

Sets the kD constant.