core::MotionController Class Reference

#include <motion_controller.h>

Classes
struct	motion_controller_config_t

Public Member Functions
	MotionController (motion_controller_config_t config)
void	set_target (double target_position, double current_position, double current_time)
double	calculate (double current_position, double current_time, Rotation2d angle=Rotation2d())
bool	is_profile_complete () const
bool	at_target () const
double	target_position () const
double	current_position () const
PIDFF &	get_pidff ()
void	set_profile_config (trapezoid_profile_config_t config)

Detailed Description

A Motion Controller that combines trajectory generation using a trapezoidal profile with feedback and feedforward control using PIDFF.

When given a target position, the controller will automatically generate a trajectory and subsequent calls to calculate() will track along that trajectory.

This class does not handle timing that determines the current motion along the trajectory.

Author

Ryan McGee, Jack Cammarata

Date

7/13/2022, 6/27/2025

Constructor & Destructor Documentation

MotionController()

core::MotionController::MotionController ( motion_controller_config_t config )

inline

Constructs a MotionController with the given configuration.

Parameters

config

The configuration parameters.

Member Function Documentation

at_target()

bool core::MotionController::at_target ( ) const

inline

Checks if the controller is at the target position.

Returns

True if the current position is at the target position within tolerance.

calculate()

double core::MotionController::calculate ( double current_position, double current_time, Rotation2d angle = Rotation2d() )

inline

Calculates the motion controller output based on the current position and time.

Parameters

current_position	The current position measurement.
current_time	The current system time.
angle	The current angle (for gravity compensation).

Returns

The calculated control output.

current_position()

double core::MotionController::current_position ( ) const

inline

Gets the most recent measured position.

Returns

The current position.

get_pidff()

PIDFF & core::MotionController::get_pidff ( )

inline

Returns the PIDFF controller.

Returns

Reference to the internal PIDFF controller.

is_profile_complete()

bool core::MotionController::is_profile_complete ( ) const

inline

Checks if the motion profile is complete.

Returns

True if the profile has completed.

set_profile_config()

void core::MotionController::set_profile_config ( trapezoid_profile_config_t config )

inline

Updates the motion profile configuration.

Parameters

config

The new trapezoid profile configuration.

set_target()

void core::MotionController::set_target ( double target_position, double current_position, double current_time )

inline

Sets a new target position, which generates a new trajectory.

Parameters

target_position	The new target position.
current_position	The current position (starting point).
current_time	The current system time (used as the start time for the new trajectory).

target_position()

double core::MotionController::target_position ( ) const

inline

Gets the current target position.

Returns

The target position.

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

• math/controls/motion_controller.h