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

Constructors, destructors, conversion operators

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

Public functions

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

Protected variables

std::shared_ptr<IterativeVelTBHController> internalController

Function documentation

rz::AsyncVelTBHController::AsyncVelTBHController(const std::shared_ptr<ControllerInput<double>>& iInput, const std::shared_ptr<ControllerOutput<double>>& iOutput, const TimeUtil& iTimeUtil, double 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::AsyncVelTBHController::setGains(const double iGains)

Set controller gains.

Parameters
iGains The new gains.

double rz::AsyncVelTBHController::getGains() const

Gets the current gains.

Returns The current gains.