JControlLoopBasic Class Reference

simple control loop for use with JMotorControllerClosed, can turn off motor if nothing has moved for a while More...

#include <JControlLoopBasic.h>

Inheritance diagram for JControlLoopBasic:

Collaboration diagram for JControlLoopBasic:

Public Member Functions
	JControlLoopBasic (float kP, unsigned long _timeout=0, bool _noReverseVoltage=false)
	constructor for control loop for use with JMotorControllerClosed
float	calc (JMotorControllerClosed *controller)
void	setKP (float _p)
float	getKP ()
void	setTimeout (unsigned long _timeout)
unsigned long	getTimeout ()
void	resetTime ()
Public Member Functions inherited from JControlLoop
float	getError ()
	setpoint-position
float	getCtrlLoopOut ()
	most recent value calculated by control loop in response to error (but not including feedforward) For example, if the control loop is a proportional loop, this function returns P * error
float	getResult ()
	most recent value returned by calc() overall output to motor

Protected Attributes
float	P
unsigned long	timeout
unsigned long	lastMovedMillis
bool	noReverseVoltage
Protected Attributes inherited from JControlLoop
float	error
float	ctrlLoopOut
float	result

Detailed Description

simple control loop for use with JMotorControllerClosed, can turn off motor if nothing has moved for a while

Constructor & Destructor Documentation

JControlLoopBasic()

JControlLoopBasic::JControlLoopBasic ( float  kP, unsigned long  _timeout = 0, bool  _noReverseVoltage = false  )

inline

constructor for control loop for use with JMotorControllerClosed

Parameters

kP	(float) proportional to error
_timeout	(unsigned long) default: 0, set output to zero if there's been no movement for this many milliseconds. 0=never timeout
_noReverseVoltage	(bool) default: false, if true, don't apply voltage in reverse direction to target velocity (recommended only for non-directional encoders)

Member Function Documentation

calc()

float JControlLoopBasic::calc ( JMotorControllerClosed *  controller )

inlinevirtual

Implements JControlLoop.

getKP()

float JControlLoopBasic::getKP ( )

inline

getTimeout()

unsigned long JControlLoopBasic::getTimeout ( )

inline

resetTime()

void JControlLoopBasic::resetTime ( )

inlinevirtual

Implements JControlLoop.

setKP()

void JControlLoopBasic::setKP ( float  _p )

inline

setTimeout()

void JControlLoopBasic::setTimeout ( unsigned long  _timeout )

inline

Member Data Documentation

lastMovedMillis

unsigned long JControlLoopBasic::lastMovedMillis

protected

noReverseVoltage

bool JControlLoopBasic::noReverseVoltage

protected

P

float JControlLoopBasic::P

protected

timeout

unsigned long JControlLoopBasic::timeout

protected

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

• src/JMotorController/JControlLoop/JControlLoopBasic.h