#include <motion_controller.h>

Public Attributes
double	max_v
	the maximum velocity the robot can drive

double	accel
	the most acceleration the robot can do

PID::pid_config_t	pid_cfg
	configuration parameters for the internal PID controller

FeedForward::ff_config_t	ff_cfg
	configuration parameters for the internal

Detailed Description

m_profile_config holds all data the motion controller uses to plan paths When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile instructing the controller how to drive pid_cfg, ff_cfg are used to find the motor outputs necessary to execute this path

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

motion_controller.h

Public Attributes

Detailed Description