TakeBackHalf Class Reference

A velocity controller. More...

#include <take_back_half.h>

Inheritance diagram for TakeBackHalf:

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

Public Attributes
double	TBH_gain
	tuned parameter

Detailed Description

A velocity controller.

Warning

If you try to use this as a position controller, it will fail.

Member Function Documentation

get()

double TakeBackHalf::get ( )

overridevirtual

Returns

the last saved result from the feedback controller

Implements Feedback.

init()

void TakeBackHalf::init ( double start_pt, double set_pt )

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 (IGNORED)
end_vel	Movement ending velocity (IGNORED)

Implements Feedback.

is_on_target()

bool TakeBackHalf::is_on_target ( )

overridevirtual

Returns

true if the feedback controller has reached it's setpoint

Implements Feedback.

set_limits()

void TakeBackHalf::set_limits ( double lower, double upper )

overridevirtual

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

Implements Feedback.

update()

double TakeBackHalf::update ( double val )

overridevirtual

Iterate the feedback loop once with an updated sensor value

Parameters

val	value from the sensor

Returns

feedback loop result

Implements Feedback.

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

• take_back_half.h
• take_back_half.cpp