valor::PIDF< INPUT, OUTPUT > Struct Template Reference

Container to hold PID and feed forward values for the motor controller. More...

#include <valkyrie/controllers/PIDF.h>

Public Types
using	TagTraits = units::traits::unit_traits<INPUT>
using	BaseUnits = typename TagTraits::base_unit_type
using	TimeRatio = typename BaseUnits::second_ratio
using	TimeCorrectionUnit
using	Position = units::compound_unit<INPUT, TimeCorrectionUnit>
using	Velocity = units::compound_unit<units::inverse<units::second>, Position>
using	Acceleration = units::compound_unit<units::inverse<units::second>, Velocity>
using	Jerk = units::compound_unit<units::inverse<units::second>, Acceleration>
using	Velocity_t = units::unit_t<Velocity>
using	Acceleration_t = units::unit_t<Acceleration>
using	Jerk_t = units::unit_t<Jerk>
using	ProportionalGain = units::compound_unit<OUTPUT, units::inverse<INPUT>>
using	IntegralGain = units::compound_unit<ProportionalGain, units::inverse<units::second>>
using	DerivativeGain = units::compound_unit<ProportionalGain, units::second>
using	ProportionalGain_t = units::unit_t<ProportionalGain>
using	IntegralGain_t = units::unit_t<IntegralGain>
using	DerivativeGain_t = units::unit_t<DerivativeGain>
using	Input_t = units::unit_t<INPUT>
using	Output_t = units::unit_t<OUTPUT>
using	kV_t = units::unit_t<units::compound_unit<OUTPUT, units::inverse<Velocity>>>
using	kA_t = units::unit_t<units::compound_unit<OUTPUT, units::inverse<Acceleration>>>
using	DimensionlessPIDF_t = PIDF<units::dimensionless::dimensionless, units::dimensionless::dimensionless>

Public Member Functions
	operator DimensionlessPIDF_t () const

Public Attributes
ProportionalGain_t	P {0}
IntegralGain_t	I {0}
DerivativeGain_t	D {0}
Velocity_t	maxVelocity {0}
Acceleration_t	maxAcceleration {0}
Jerk_t	maxJerk {0}
Input_t	error {0}
Input_t	errorThreshold {0}
Output_t	kS {0}
Output_t	kG {0}
std::optional< kV_t >	kV = std::nullopt
std::optional< kA_t >	kA = std::nullopt
units::turn_t	GTarget = 0_deg
GravityFFType	GType = GravityFFType::LINEAR

Detailed Description

template<typename INPUT = units::dimensionless::dimensionless, typename OUTPUT = units::dimensionless::dimensionless>
requires units::traits::is_unit_v<INPUT> && units::traits::is_unit_v<OUTPUT>
struct valor::PIDF< INPUT, OUTPUT >

Container to hold PID and feed forward values for the motor controller.

Member Typedef Documentation

TimeCorrectionUnit

template<typename INPUT = units::dimensionless::dimensionless, typename OUTPUT = units::dimensionless::dimensionless>

using valor::PIDF< INPUT, OUTPUT >::TimeCorrectionUnit

Initial value:

 
        units::unit<std::ratio<1>,
                    units::base_unit<std::ratio<0>, std::ratio<0>, std::ratio<-TimeRatio::num, TimeRatio::den>, std::ratio<0>>>

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The documentation for this struct was generated from the following file:

• src/main/include/valkyrie/controllers/PIDF.h