libstp::drive::VelocityController Class Reference

#include <velocity_controller.hpp>

Public Member Functions
	VelocityController (foundation::PidGains g, foundation::Feedforward ff)
void	setGains (const foundation::PidGains &g)
void	setFF (const foundation::Feedforward &ff)
const foundation::PidGains &	gains () const
const foundation::Feedforward &	ff () const
double	compute (double w_ref, double a_ref, double w_meas, double dt, double u_max, bool *out_saturated=nullptr)
void	reset ()

Detailed Description

PID plus feedforward helper used for chassis velocity control.

The controller uses measured-derivative filtering and a simple back-calculation style anti-windup term when clamping is active.

Definition at line 16 of file velocity_controller.hpp.

Constructor & Destructor Documentation

VelocityController()

libstp::drive::VelocityController::VelocityController	(	foundation::PidGains	g,
		foundation::Feedforward	ff )

Construct a controller with the supplied PID and feedforward terms.

Member Function Documentation

compute()

double libstp::drive::VelocityController::compute	(	double	w_ref,
		double	a_ref,
		double	w_meas,
		double	dt,
		double	u_max,
		bool *	out_saturated = nullptr )

Compute the next controller output.

Parameters

w_ref	Reference velocity.
a_ref	Reference acceleration for the feedforward term.
w_meas	Measured velocity.
dt	Sample time in seconds.
u_max	Symmetric output clamp magnitude.
out_saturated	Optional flag set when clamping occurs.

ff()

const foundation::Feedforward & libstp::drive::VelocityController::ff ( ) const

inline

Definition at line 29 of file velocity_controller.hpp.

gains()

const foundation::PidGains & libstp::drive::VelocityController::gains ( ) const

inline

Definition at line 28 of file velocity_controller.hpp.

reset()

void libstp::drive::VelocityController::reset

(

)

Clear integrator, derivative filter, and measurement history.

setFF()

void libstp::drive::VelocityController::setFF

(

const foundation::Feedforward &

ff

)

Replace the feedforward terms used by subsequent compute() calls.

setGains()

void libstp::drive::VelocityController::setGains

(

const foundation::PidGains &

g

)

Replace the PID gains used by subsequent compute() calls.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-drive/include/drive/velocity_controller.hpp