sylib::ProportionalController Class Reference

P Controller. More...

#include <math.hpp>

Public Member Functions
	ProportionalController (double kP, std::shared_ptr< double > error, double motorGearing=200, bool maxRangeEnabled=false, double kP2=0, double maxRange=0)
	Creates a P controller for a V5 motor. More...
double	update ()
	Calculates controller output based on the current error value. More...
double	getkP () const
	Gets the kP constant. More...
double	getOutput () const
	Gets the current stored output value without calculating a new value. More...
void	setkP (double gain)
	Sets the kP constant. More...
double	operator* ()
	Operator overload for getting the current filter ouput. More...
void	setMaxRangeEnabled (bool enabled)
	Sets whether the maxRangeEnabled flag is on or off. More...
void	setMaxRange (double range)
	Sets the error range from the target value that is used for switching between kP and kP2. More...
void	setkP2 (double gain)
	Sets the secondary kP constant. More...

Detailed Description

P Controller.

Constructor & Destructor Documentation

ProportionalController()

sylib::ProportionalController::ProportionalController	(	double	kP,
		std::shared_ptr< double >	error,
		double	motorGearing = 200,
		bool	maxRangeEnabled = false,
		double	kP2 = 0,
		double	maxRange = 0
	)

Creates a P controller for a V5 motor.

Parameters

kP	Proportional 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
maxRangeEnabled	A flag that when true shifts the P controller to using kP2 as the kP constant when error is less than <maxRange>
kP2	The secondary kP value that is used when maxRangeEnabled is on and the error is within maxRange
maxRange	Error range from the target value that is used for switching between kP and kP2

Member Function Documentation

getkP()

double sylib::ProportionalController::getkP

(

)

const

Gets the kP constant.

Returns

kP value

getOutput()

double sylib::ProportionalController::getOutput

(

)

const

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

Returns

Controller output

operator*()

double sylib::ProportionalController::operator*

(

)

Operator overload for getting the current filter ouput.

Returns

Controller output

setkP()

void sylib::ProportionalController::setkP

(

double

gain

)

Sets the kP constant.

Parameters

gain	Proportional gain

setkP2()

void sylib::ProportionalController::setkP2

(

double

gain

)

Sets the secondary kP constant.

Parameters

gain	Proportional gain

setMaxRange()

void sylib::ProportionalController::setMaxRange

(

double

range

)

Sets the error range from the target value that is used for switching between kP and kP2.

Parameters

range

Max error value

setMaxRangeEnabled()

void sylib::ProportionalController::setMaxRangeEnabled

(

bool

enabled

)

Sets whether the maxRangeEnabled flag is on or off.

Parameters

enabled

Flag value

update()

double sylib::ProportionalController::update

(

)

Calculates controller output based on the current error value.

Returns

Controller output