Lift< T > Class Template Reference

#include <lift.h>

Classes
struct	lift_cfg_t

Public Member Functions
	Lift (motor_group &lift_motors, lift_cfg_t &lift_cfg, map< T, double > &setpoint_map, limit *homing_switch=NULL)
void	control_continuous (bool up_ctrl, bool down_ctrl)
void	control_manual (bool up_btn, bool down_btn, int volt_up, int volt_down)
void	control_setpoints (bool up_step, bool down_step, vector< T > pos_list)
bool	set_position (T pos)
bool	set_setpoint (double val)
double	get_setpoint ()
void	hold ()
void	home ()
bool	get_async ()
void	set_async (bool val)
void	set_sensor_function (double(*fn_ptr)(void))
void	set_sensor_reset (void(*fn_ptr)(void))

Detailed Description

template<typename T>
class Lift< T >

LIFT A general class for lifts (e.g. 4bar, dr4bar, linear, etc) Uses a PID to hold the lift at a certain height under load, and to move the lift to different heights

Author

Ryan McGee

Constructor & Destructor Documentation

Lift()

template<typename T >

Lift< T >::Lift ( motor_group & lift_motors, lift_cfg_t & lift_cfg, map< T, double > & setpoint_map, limit * homing_switch = NULL )

inline

Construct the Lift object and begin the background task that controls the lift.

Usage example: /code{.cpp} enum Positions {UP, MID, DOWN}; map<Positions, double> setpt_map { {DOWN, 0.0}, {MID, 0.5}, {UP, 1.0} }; Lift<Positions> my_lift(motors, lift_cfg, setpt_map); /endcode

Parameters

lift_motors	A set of motors, all set that positive rotation correlates with the lift going up
lift_cfg	Lift characterization information; PID tunings and movement speeds
setpoint_map	A map of enum type T, in which each enum entry corresponds to a different lift height

Member Function Documentation

control_continuous()

template<typename T >

void Lift< T >::control_continuous ( bool up_ctrl, bool down_ctrl )

inline

Control the lift with an "up" button and a "down" button. Use PID to hold the lift when letting go.

Parameters

up_ctrl	Button controlling the "UP" motion
down_ctrl	Button controlling the "DOWN" motion

control_manual()

template<typename T >

void Lift< T >::control_manual ( bool up_btn, bool down_btn, int volt_up, int volt_down )

inline

Control the lift with manual controls (no holding voltage)

Parameters

up_btn	Raise the lift when true
down_btn	Lower the lift when true
volt_up	Motor voltage when raising the lift
volt_down	Motor voltage when lowering the lift

control_setpoints()

template<typename T >

void Lift< T >::control_setpoints ( bool up_step, bool down_step, vector< T > pos_list )

inline

Control the lift in "steps". When the "up" button is pressed, the lift will go to the next position as defined by pos_list. Order matters!

Parameters

up_step	A button that increments the position of the lift.
down_step	A button that decrements the position of the lift.
pos_list	A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).

get_async()

template<typename T >

bool Lift< T >::get_async ( )

inline

Returns

whether or not the background thread is running the lift

get_setpoint()

template<typename T >

double Lift< T >::get_setpoint ( )

inline

Returns

The current setpoint for the lift

hold()

template<typename T >

void Lift< T >::hold ( )

inline

Target the class's setpoint. Calculate the PID output and set the lift motors accordingly.

home()

template<typename T >

void Lift< T >::home ( )

inline

A blocking function that automatically homes the lift based on a sensor or hard stop, and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage.

set_async()

template<typename T >

void Lift< T >::set_async ( bool val )

inline

Enables or disables the background task. Note that running the control functions, or set_position functions will immediately re-enable the task for autonomous use.

Parameters

val	Whether or not the background thread should run the lift

set_position()

template<typename T >

bool Lift< T >::set_position ( T pos )

inline

Enable the background task, and send the lift to a position, specified by the setpoint map from the constructor.

Parameters

pos	A lift position enum type

Returns

True if the pid has reached the setpoint

set_sensor_function()

template<typename T >

void Lift< T >::set_sensor_function ( double(*)(void) fn_ptr )

inline

Creates a custom hook for any other type of sensor to be used on the lift. Example: /code{.cpp} my_lift.set_sensor_function( [](){return my_sensor.position();} ); /endcode

Parameters

fn_ptr

Pointer to custom sensor function

set_sensor_reset()

template<typename T >

void Lift< T >::set_sensor_reset ( void(*)(void) fn_ptr )

inline

Creates a custom hook to reset the sensor used in set_sensor_function(). Example: /code{.cpp} my_lift.set_sensor_reset( my_sensor.resetPosition ); /endcode

set_setpoint()

template<typename T >

bool Lift< T >::set_setpoint ( double val )

inline

Manually set a setpoint value for the lift PID to go to.

Parameters

val	Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.

Returns

True if the pid has reached the setpoint

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

• lift.h