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

#include <PIDF.h>

Public Member Functions
void	setMaxVelocity (units::turns_per_second_t _maxVelocity)

void	setMaxVelocity (units::meters_per_second_t _maxVelocityMPS, units::meter_t wheelDiameter)

void	setMaxAcceleration (units::turns_per_second_squared_t _maxAcceleration)

void	setMaxAcceleration (units::meters_per_second_squared_t _maxAccelerationMPS, units::meter_t wheelDiameter)

void	setMaxJerk (units::turns_per_second_cubed_t _maxJerk)

Public Attributes
double	P = 0.0
	Proportion control of the feedback term.

double	I = 0.0
	Integral control of the feedback term.

double	D = 0.0
	Derivative control of the feedback term.

std::optional< double >	kV = std::nullopt

units::turns_per_second_t	maxVelocity = 0_tps
	Max velocity: revolutions per 1s.

units::turns_per_second_squared_t	maxAcceleration = 0_tr_per_s_sq
	Max acceleration: revolutions per 1s^2.

units::turns_per_second_cubed_t	maxJerk = 0_tr_per_s_cu
	Max jerk: revolutions per 1s^3.

units::turn_t	error = 0_tr
	Minimum error threshold.

double	S = 0.19

double	aFF = 0

units::turn_t	aFFTarget = 0_deg

FeedForwardType	aFFType = FeedForwardType::LINEAR

Detailed Description

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

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

Public Member Functions