rz::AsyncVelBangBangController class
#include <include/RaidZeroLib/api/Control/Async/AsyncVelBangBangController.hpp>

Constructors, destructors, conversion operators

AsyncVelBangBangController(const std::shared_ptr<ControllerInput<double>>& iInput, const std::shared_ptr<ControllerOutput<double>>& iOutput, const TimeUtil& iTimeUtil, const IterativeVelBangBangController::Gains& iGain, std::unique_ptr<VelMath> iVelMath, double iRatio = 1, const std::shared_ptr<Logger>& iLogger = Logger::getDefaultLogger())
An async velocity TBH controller.
~AsyncVelBangBangController() defaulted

Public functions

void setGains(const IterativeVelBangBangController::Gains iGains)
Set controller gains.
auto getGains() const -> IterativeVelBangBangController::Gains
Gets the current gains.

Protected variables

std::shared_ptr<IterativeVelBangBangController> internalController

Function documentation

rz::AsyncVelBangBangController::AsyncVelBangBangController(const std::shared_ptr<ControllerInput<double>>& iInput, const std::shared_ptr<ControllerOutput<double>>& iOutput, const TimeUtil& iTimeUtil, const IterativeVelBangBangController::Gains& iGain, std::unique_ptr<VelMath> iVelMath, double iRatio = 1, const std::shared_ptr<Logger>& iLogger = Logger::getDefaultLogger())

An async velocity TBH controller.

Parameters
iInput The controller input.
iOutput The controller output.
iTimeUtil The TimeUtil.
iGain the tbh gain
iVelMath The VelMath used for calculating velocity.
iRatio Any external gear ratio.
iLogger the logger instance to log to

void rz::AsyncVelBangBangController::setGains(const IterativeVelBangBangController::Gains iGains)

Set controller gains.

Parameters
iGains The new gains.

IterativeVelBangBangController::Gains rz::AsyncVelBangBangController::getGains() const

Gets the current gains.

Returns The current gains.