sylib::IntegralController Class Reference

I Controller. More...

#include <math.hpp>

Public Member Functions
	IntegralController (double kI, std::shared_ptr< double > error, double motorGearing=200, bool antiWindupEnabled=false, double antiWindupRange=0)
	Creates an I controller for a V5 motor. More...
double	update ()
	Calculates controller output based on the current error value. More...
double	getkI () const
	Gets the kI constant. More...
void	resetValue ()
	Resets the integral value to 0. 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	setkI (double gain)
	Sets the kI constant. More...
double	operator* ()
	Operator overload for getting the current filter ouput. More...
void	setAntiWindupEnabled (bool enabled)
	Sets whether the antiWindupEnabled flag is on or off. More...
void	setAntiWindupRange (double range)
	Sets the error range from the target value that is used for anti-windup. More...

Detailed Description

I Controller.

Constructor & Destructor Documentation

IntegralController()

sylib::IntegralController::IntegralController	(	double	kI,
		std::shared_ptr< double >	error,
		double	motorGearing = 200,
		bool	antiWindupEnabled = false,
		double	antiWindupRange = 0
	)

Creates an I controller for a V5 motor.

Parameters

kI	Integral 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
antiWindupEnabled	A flag that when true enables anti-windup, setting the output value to 0 when error is more than <antiWindupRange>
antiWindupRange	Error range from the target value that is used for anti-windup

Member Function Documentation

getCurrentTime()

double sylib::IntegralController::getCurrentTime

(

)

const

Gets the current time the controller is using.

Returns

Time in milliseconds

getdT()

uint32_t sylib::IntegralController::getdT

(

)

const

Gets the most recent time difference between updates.

Returns

Time in milliseconds

getkI()

double sylib::IntegralController::getkI

(

)

const

Gets the kI constant.

Returns

kI value

getOutput()

double sylib::IntegralController::getOutput

(

)

const

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

Returns

Controller output

operator*()

double sylib::IntegralController::operator*

(

)

Operator overload for getting the current filter ouput.

Returns

Controller output

resetValue()

void sylib::IntegralController::resetValue

(

)

Resets the integral value to 0.

setAntiWindupEnabled()

void sylib::IntegralController::setAntiWindupEnabled

(

bool

enabled

)

Sets whether the antiWindupEnabled flag is on or off.

Parameters

enabled

Flag value

setAntiWindupRange()

void sylib::IntegralController::setAntiWindupRange

(

double

range

)

Sets the error range from the target value that is used for anti-windup.

Parameters

range

Max error value

setkI()

void sylib::IntegralController::setkI

(

double

gain

)

Sets the kI constant.

Parameters

gain	Integral gain

update()

double sylib::IntegralController::update

(

)

Calculates controller output based on the current error value.

Returns

Controller output