Feedback Class Reference

#include <feedback_base.h>

Inheritance diagram for Feedback:

Public Member Functions
virtual void	init (double start_pt, double set_pt)=0
virtual double	update (double val)=0
virtual double	get ()=0
virtual void	set_limits (double lower, double upper)=0
virtual bool	is_on_target ()=0

Detailed Description

Interface so that subsystems can easily switch between feedback loops

Author

Ryan McGee

Date

9/25/2022

Member Function Documentation

get()

virtual double Feedback::get ( )

pure virtual

Returns

the last saved result from the feedback controller

Implemented in MotionController, PID, and TakeBackHalf.

init()

virtual void Feedback::init ( double start_pt, double set_pt )

pure virtual

Initialize the feedback controller for a movement

Parameters

start_pt	the current sensor value
set_pt	where the sensor value should be
start_vel	Movement starting velocity
end_vel	Movement ending velocity

Implemented in MotionController, TakeBackHalf, and PID.

is_on_target()

virtual bool Feedback::is_on_target ( )

pure virtual

Returns

true if the feedback controller has reached it's setpoint

Implemented in MotionController, PID, and TakeBackHalf.

set_limits()

virtual void Feedback::set_limits ( double lower, double upper )

pure virtual

Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.

Parameters

lower	Upper limit
upper	Lower limit

Implemented in MotionController, PID, and TakeBackHalf.

update()

virtual double Feedback::update ( double val )

pure virtual

Iterate the feedback loop once with an updated sensor value

Parameters

val	value from the sensor

Returns

feedback loop result

Implemented in MotionController, PID, and TakeBackHalf.

---

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

• feedback_base.h