libstp.foundation
=================

.. py:module:: libstp.foundation

.. autoapi-nested-parse::

   Python bindings for libstp-foundation



Classes
-------

.. autoapisummary::

   libstp.foundation.ChassisVelocity
   libstp.foundation.Feedforward
   libstp.foundation.MotorCalibration
   libstp.foundation.PIDController
   libstp.foundation.PidGains
   libstp.foundation.Pose


Functions
---------

.. autoapisummary::

   libstp.foundation.debug
   libstp.foundation.error
   libstp.foundation.info
   libstp.foundation.initialize_logging
   libstp.foundation.initialize_timer
   libstp.foundation.warn


Module Contents
---------------

.. py:class:: ChassisVelocity
              ChassisVelocity(arg0: float, arg1: float, arg2: float)

   .. py:attribute:: vx
      :type:  float


   .. py:attribute:: vy
      :type:  float


   .. py:attribute:: wz
      :type:  float


.. py:class:: Feedforward
              Feedforward(kS: float, kV: float, kA: float)

   .. py:attribute:: kA
      :type:  float


   .. py:attribute:: kS
      :type:  float


   .. py:attribute:: kV
      :type:  float


.. py:class:: MotorCalibration
              MotorCalibration(ff: Feedforward, pid: PidGains, ticks_to_rad: float, vel_lpf_alpha: float)

   .. py:attribute:: ff
      :type:  Feedforward


   .. py:attribute:: pid
      :type:  PidGains


   .. py:attribute:: ticks_to_rad
      :type:  float


   .. py:attribute:: vel_lpf_alpha
      :type:  float


.. py:class:: PIDController(Kp: float, Ki: float, Kd: float)

   A PID controller for managing control loops.

   This class provides methods for tuning and executing a PID control loop
   with configurable proportional, integral, and derivative gains.



   .. py:method:: calculate(error: float) -> float

      Calculate the PID output for a given error.

      :param error: The current error in the system.
      :type error: float

      :returns: The calculated PID output, clamped to the specified range.
      :rtype: float



.. py:class:: PidGains
              PidGains(kp: float, ki: float, kd: float)

   .. py:attribute:: kd
      :type:  float


   .. py:attribute:: ki
      :type:  float


   .. py:attribute:: kp
      :type:  float


.. py:class:: Pose

   .. py:attribute:: position
      :type:  numpy.ndarray[numpy.float32[3, 1]]


   .. py:property:: heading
      :type: float



.. py:function:: debug(message: str) -> None

   Log a message with severity level debug


.. py:function:: error(message: str) -> None

   Log a message with severity level error


.. py:function:: info(message: str) -> None

   Log a message with severity level info


.. py:function:: initialize_logging() -> None

   Initialize and enable the logging system


.. py:function:: initialize_timer() -> None

   Initialize the timer for elapsed time logging


.. py:function:: warn(message: str) -> None

   Log a message with severity level warn