sylib::SylviesPogVelocityEstimator Class Reference

Accurate Motor Velocity Estimator. More...

#include <motor.hpp>

Public Member Functions
	SylviesPogVelocityEstimator (double motorGearing=200)
	Creates a velocity estimator for a smart motor. More...
double	getVelocity (double currentMotorTicks, std::uint32_t currentInternalMotorClock)
	Calculates motor velocity. More...
double	getVelocityNoCalculations () const
	Gets the most recent calculated motor velocity. More...
double	getRawVelocity () const
	Gets the raw motor velocity. More...
double	getRawPosition () const
	Gets the most recent user-provided motor position. More...
double	getSmaFilteredVelocity () const
	Gets the motor velocity put through a 3-tap simple moving average. More...
double	getEmaFilteredVelocity () const
	Gets the motor velocity put through a an exponential moving average filter. More...
double	getMedianFilteredVelocity () const
	Gets the motor velocity put through a median filter. More...
double	getAcceleration () const
	Gets the motor acceleration. More...
double	getPreFilterAcceleration () const
	Gets the raw motor acceleration based on a partially filtered velocity calculation. More...
double	getJerk () const
	Gets the motor jerk. More...
double	getSnap () const
	Gets the motor snap. More...
double	getCalculatedkA () const
	Gets the current value of the variable gain used for the velocity EMA filter. More...
double	getMaxFilteredAcceleration () const
	Gets the absolute value of the largest or smallest acceleration measurement in the last 200ms. More...

Detailed Description

Accurate Motor Velocity Estimator.

Constructor & Destructor Documentation

SylviesPogVelocityEstimator()

sylib::SylviesPogVelocityEstimator::SylviesPogVelocityEstimator

(

double

motorGearing = 200

)

Creates a velocity estimator for a smart motor.

Parameters

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

getAcceleration()

double sylib::SylviesPogVelocityEstimator::getAcceleration

(

)

const

Gets the motor acceleration.

This value is a second derivative of any actual measurement. It will not be very accurate.

Returns

RPM per millisecond

getCalculatedkA()

double sylib::SylviesPogVelocityEstimator::getCalculatedkA

(

)

const

Gets the current value of the variable gain used for the velocity EMA filter.

Returns

kA value

getEmaFilteredVelocity()

double sylib::SylviesPogVelocityEstimator::getEmaFilteredVelocity

(

)

const

Gets the motor velocity put through a an exponential moving average filter.

This value is the same as the estimator's output velocity, but without the motor gearset translation.

Returns

Velocity in RPM out of 3600

getJerk()

double sylib::SylviesPogVelocityEstimator::getJerk

(

)

const

Gets the motor jerk.

This value is a third derivative of any actual measurement. It will not be very accurate.

Returns

RPM per millisecond per millisecond

getMaxFilteredAcceleration()

double sylib::SylviesPogVelocityEstimator::getMaxFilteredAcceleration

(

)

const

Gets the absolute value of the largest or smallest acceleration measurement in the last 200ms.

This value is a second derivative of any actual measurement. It will not be very accurate.

Returns

RPM per millisecond

getMedianFilteredVelocity()

double sylib::SylviesPogVelocityEstimator::getMedianFilteredVelocity

(

)

const

Gets the motor velocity put through a median filter.

This value is partially filtered, and will be of limitied use.

Returns

Velocity in RPM out of 3600

getPreFilterAcceleration()

double sylib::SylviesPogVelocityEstimator::getPreFilterAcceleration

(

)

const

Gets the raw motor acceleration based on a partially filtered velocity calculation.

This value is a second derivative of any actual measurement. It will not be very accurate.

Returns

RPM per millisecond

getRawPosition()

double sylib::SylviesPogVelocityEstimator::getRawPosition

(

)

const

Gets the most recent user-provided motor position.

Returns

Ticks

getRawVelocity()

double sylib::SylviesPogVelocityEstimator::getRawVelocity

(

)

const

Gets the raw motor velocity.

This value is not filtered, and will be of limitied use. It is purely difference in ticks divided by difference in time.

Returns

Velocity in RPM out of 3600

getSmaFilteredVelocity()

double sylib::SylviesPogVelocityEstimator::getSmaFilteredVelocity

(

)

const

Gets the motor velocity put through a 3-tap simple moving average.

This value is partially filtered, and will be of limitied use.

Returns

Velocity in RPM out of 3600

getSnap()

double sylib::SylviesPogVelocityEstimator::getSnap

(

)

const

Gets the motor snap.

This value is a fourth derivative of any actual measurement. It will not be very accurate.

Returns

RPM per millisecond per millisecond per millisecond

getVelocity()

double sylib::SylviesPogVelocityEstimator::getVelocity	(	double	currentMotorTicks,
		std::uint32_t	currentInternalMotorClock
	)

Calculates motor velocity.

Parameters

currentMotorTicks

The current number of raw encoder ticks the motor has recorded

Returns

Velocity in RPM

getVelocityNoCalculations()

double sylib::SylviesPogVelocityEstimator::getVelocityNoCalculations

(

)

const

Gets the most recent calculated motor velocity.

Returns

Velocity in RPM