basic drivetrain controller, supports smoothed movements on each axis More...

#include <JDrivetrainControllerBasic.h>

Inheritance diagram for JDrivetrainControllerBasic:

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Collaboration diagram for JDrivetrainControllerBasic:

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Public Member Functions
	JDrivetrainControllerBasic (JDrivetrain &_drivetrain, JTwoDTransform _velLimit, JTwoDTransform _accelLimit, JTwoDTransform _distError, bool _velNotPosDelta=true)

void	run ()
	run as frequently as possible

void	moveVel (JTwoDTransform _vel, bool _run=false)
	make drivetrain approach set velocity following acceleration limits

boolean	isDrivetrainAtTarget ()
	are all the drivetrain distance Derivs_Limiters at their position targets?

void	moveDist (JTwoDTransform _dist, bool _run=false)
	make each axis of the drivetrain go to target position, following accel and vel limits

void	moveDistY (float _y, bool _run=false)

void	moveDistTheta (float _theta, bool _run=false)

void	moveDistX (float _x, bool _run=false)

void	moveDistInc (JTwoDTransform _d, bool _run=false)

void	moveDistYInc (float _y, bool _run=false)

void	moveDistThetaInc (float _theta, bool _run=false)

void	moveDistXInc (float _x, bool _run=false)

bool	isVelZero ()

bool	getDistMode ()
	true if going to distance target, false if velocity based

bool	getIsControlled ()
	true=velocity and acceleration is limited, false=writing directly to drivetrain

JTwoDTransform	getDistTarget ()

void	setVelLimit (JTwoDTransform _velLim)

void	setAccelLimit (JTwoDTransform _accelLim)

JTwoDTransform	getVelLimit ()

JTwoDTransform	getAccelLimit ()

void	setVelLimitY (float l)

void	setVelLimitX (float l)

void	setVelLimitTheta (float l)

void	setAccelLimitY (float l)

void	setAccelLimitX (float l)

void	setAccelLimitTheta (float l)

void	setVelNotPosDelta (bool _velNotPosDelta)
	true = uses setVel() when setting drivetrain velocity, false = uses setPosDelta() when setting drivetrain velocity

void	setVel (JTwoDTransform _vel, bool _run=false)
	sets drivetrain velocity immediately

void	setDistSetpoint (JTwoDTransform _dist, bool _run=false)

void	setDistDelta (JTwoDTransform _dist, bool _run=false)

void	resetDist ()

JTwoDTransform	getVel (bool _run=false)

JTwoDTransform	getDist (bool _run=false)

JTwoDTransform	getDistSetpoint ()
	returns what distances are being set as the setpoints for each axis of the drivetrain

JTwoDTransform	getMaxVel ()
	returns the approximate maximum velocity of the drivetrain, if the drivetrain is told to move at max velocity, it should set the motors to full power.

float	getMotorVel (unsigned char i)

void	setMotorVel (float vel, unsigned char i, bool _run=false)

void	setMotorDistSetpoint (float distSetpoint, unsigned char i, bool _run=false)

void	setMotorDistDelta (float distDelta, unsigned char i, bool _run=false)

unsigned char	getNumberMotors ()

bool	setEnable (bool _enable)
	enables or disables movement

bool	enable ()
	enables movement

bool	disable ()
	disables movement

bool	getEnable ()
	gets the current state (enabled or disabled)

Public Attributes
JDrivetrain &	drivetrain

Derivs_Limiter	XLimiter

Derivs_Limiter	YLimiter

Derivs_Limiter	ThetaLimiter

JTwoDTransform	distError

Protected Attributes
bool	controlled

bool	distMode

unsigned long	lastCalcMillis

JTwoDTransform	velTarget

bool	velNotPosDelta

Detailed Description

basic drivetrain controller, supports smoothed movements on each axis

Note: each axis is separate, this drivetrain controller doesn't combine movements over time to actually calculate its position

Constructor & Destructor Documentation

◆ JDrivetrainControllerBasic()

JDrivetrainControllerBasic::JDrivetrainControllerBasic	(	JDrivetrain &	_drivetrain,
		JTwoDTransform	_velLimit,
		JTwoDTransform	_accelLimit,
		JTwoDTransform	_distError,
		bool	_velNotPosDelta = `true`
	)

inline

Member Function Documentation

◆ disable()

bool JDrivetrainControllerBasic::disable ( )

inlinevirtual

disables movement

Return values

did	the state change

Implements JDrivetrainBasic.

◆ enable()

bool JDrivetrainControllerBasic::enable ( )

inlinevirtual

enables movement

Return values

did	the state change

Implements JDrivetrainBasic.

◆ getAccelLimit()

JTwoDTransform JDrivetrainControllerBasic::getAccelLimit ( )

inline

◆ getDist()

JTwoDTransform JDrivetrainControllerBasic::getDist ( bool _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

◆ getDistMode()

bool JDrivetrainControllerBasic::getDistMode ( )

inline

true if going to distance target, false if velocity based

Return values

bool

◆ getDistSetpoint()

JTwoDTransform JDrivetrainControllerBasic::getDistSetpoint ( )

inline

returns what distances are being set as the setpoints for each axis of the drivetrain

Note: only works in controlled dist mode

Return values

(JTwoDTransform)

◆ getDistTarget()

JTwoDTransform JDrivetrainControllerBasic::getDistTarget ( )

inline

◆ getEnable()

bool JDrivetrainControllerBasic::getEnable ( )

inlinevirtual

gets the current state (enabled or disabled)

Return values

(bool) true=enabled false=movement disabled

Implements JDrivetrainBasic.

◆ getIsControlled()

bool JDrivetrainControllerBasic::getIsControlled ( )

inline

true=velocity and acceleration is limited, false=writing directly to drivetrain

Return values

(bool)

◆ getMaxVel()

JTwoDTransform JDrivetrainControllerBasic::getMaxVel ( )

inlinevirtual

returns the approximate maximum velocity of the drivetrain, if the drivetrain is told to move at max velocity, it should set the motors to full power.

Note: depends on how well calibrated the motor compensators are

Return values

(JTwoDTransform) maximum velocity (in whatever units your drivetrain and motors are set up for)

Implements JDrivetrainBasic.

◆ getMotorVel()

float JDrivetrainControllerBasic::getMotorVel ( unsigned char i )

inlinevirtual

Reimplemented from JDrivetrain.

◆ getNumberMotors()

unsigned char JDrivetrainControllerBasic::getNumberMotors ( )

inlinevirtual

Reimplemented from JDrivetrain.

◆ getVel()

JTwoDTransform JDrivetrainControllerBasic::getVel ( bool _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

◆ getVelLimit()

JTwoDTransform JDrivetrainControllerBasic::getVelLimit ( )

inline

◆ isDrivetrainAtTarget()

boolean JDrivetrainControllerBasic::isDrivetrainAtTarget ( )

inline

are all the drivetrain distance Derivs_Limiters at their position targets?

Note: doesn't check whether in position control mode

Return values

boolean

◆ isVelZero()

bool JDrivetrainControllerBasic::isVelZero ( )

inline

◆ moveDist()

void JDrivetrainControllerBasic::moveDist	(	JTwoDTransform	_dist,
		bool	_run = `false`
	)

inline

make each axis of the drivetrain go to target position, following accel and vel limits

Note: each axis is controlled separately, you are not setting absolute position, just target distance for each axis

Parameters

_dist	(JTwoDTransform) target distance
_run	(bool) default=false, true=run gets called within this function, false=call run yourself outside this function

◆ moveDistInc()

void JDrivetrainControllerBasic::moveDistInc	(	JTwoDTransform	_d,
		bool	_run = `false`
	)

inline

◆ moveDistTheta()

void JDrivetrainControllerBasic::moveDistTheta	(	float	_theta,
		bool	_run = `false`
	)

inline

◆ moveDistThetaInc()

void JDrivetrainControllerBasic::moveDistThetaInc	(	float	_theta,
		bool	_run = `false`
	)

inline

◆ moveDistX()

void JDrivetrainControllerBasic::moveDistX	(	float	_x,
		bool	_run = `false`
	)

inline

◆ moveDistXInc()

void JDrivetrainControllerBasic::moveDistXInc	(	float	_x,
		bool	_run = `false`
	)

inline

◆ moveDistY()

void JDrivetrainControllerBasic::moveDistY	(	float	_y,
		bool	_run = `false`
	)

inline

◆ moveDistYInc()

void JDrivetrainControllerBasic::moveDistYInc	(	float	_y,
		bool	_run = `false`
	)

inline

◆ moveVel()

void JDrivetrainControllerBasic::moveVel	(	JTwoDTransform	_vel,
		bool	_run = `false`
	)

inline

make drivetrain approach set velocity following acceleration limits

Parameters

_vel	(JTwoDTransform) target velocity
_run	(bool) default=false, true=run gets called within this function, false=call run yourself outside this function

◆ resetDist()

void JDrivetrainControllerBasic::resetDist ( )

inlinevirtual

Reimplemented from JDrivetrain.

◆ run()

void JDrivetrainControllerBasic::run ( )

inlinevirtual

run as frequently as possible

Implements JDrivetrainBasic.

◆ setAccelLimit()

void JDrivetrainControllerBasic::setAccelLimit ( JTwoDTransform _accelLim )

inline

◆ setAccelLimitTheta()

void JDrivetrainControllerBasic::setAccelLimitTheta ( float l )

inline

◆ setAccelLimitX()

void JDrivetrainControllerBasic::setAccelLimitX ( float l )

inline

◆ setAccelLimitY()

void JDrivetrainControllerBasic::setAccelLimitY ( float l )

inline

◆ setDistDelta()

void JDrivetrainControllerBasic::setDistDelta	(	JTwoDTransform	_dist,
		bool	_run = `false`
	)

inlinevirtual

Reimplemented from JDrivetrain.

◆ setDistSetpoint()

void JDrivetrainControllerBasic::setDistSetpoint	(	JTwoDTransform	_dist,
		bool	_run = `false`
	)

inlinevirtual

Reimplemented from JDrivetrain.

◆ setEnable()

bool JDrivetrainControllerBasic::setEnable ( bool _enable )

inlinevirtual

enables or disables movement

Parameters

_enable (bool) true=enabled false=movement disabled

Return values

did	the state change

Implements JDrivetrainBasic.

◆ setMotorDistDelta()

void JDrivetrainControllerBasic::setMotorDistDelta	(	float	distDelta,
		unsigned char	i,
		bool	_run = `false`
	)

inlinevirtual

Reimplemented from JDrivetrain.

◆ setMotorDistSetpoint()

void JDrivetrainControllerBasic::setMotorDistSetpoint	(	float	distSetpoint,
		unsigned char	i,
		bool	_run = `false`
	)

inlinevirtual

Reimplemented from JDrivetrain.

◆ setMotorVel()

void JDrivetrainControllerBasic::setMotorVel	(	float	vel,
		unsigned char	i,
		bool	_run = `false`
	)

inlinevirtual

Reimplemented from JDrivetrain.

◆ setVel()

void JDrivetrainControllerBasic::setVel	(	JTwoDTransform	_vel,
		bool	_run = `false`
	)

inlinevirtual

sets drivetrain velocity immediately

Parameters

_vel	JTwoDTransform of velocity wanted for drivetrain
_run	(bool) default=false, true=run gets called within this function, false=call run yourself outside this function

Return values

None

Implements JDrivetrainBasic.

◆ setVelLimit()

void JDrivetrainControllerBasic::setVelLimit ( JTwoDTransform _velLim )

inline

◆ setVelLimitTheta()

void JDrivetrainControllerBasic::setVelLimitTheta ( float l )

inline

◆ setVelLimitX()

void JDrivetrainControllerBasic::setVelLimitX ( float l )

inline

◆ setVelLimitY()

void JDrivetrainControllerBasic::setVelLimitY ( float l )

inline

◆ setVelNotPosDelta()

void JDrivetrainControllerBasic::setVelNotPosDelta ( bool _velNotPosDelta )

inline

true = uses setVel() when setting drivetrain velocity, false = uses setPosDelta() when setting drivetrain velocity

Parameters

_velNotPosDelta (bool)

Member Data Documentation

◆ controlled

bool JDrivetrainControllerBasic::controlled

protected

◆ distError

JTwoDTransform JDrivetrainControllerBasic::distError

◆ distMode

bool JDrivetrainControllerBasic::distMode

protected

◆ drivetrain

JDrivetrain& JDrivetrainControllerBasic::drivetrain

◆ lastCalcMillis

unsigned long JDrivetrainControllerBasic::lastCalcMillis

protected

◆ ThetaLimiter

Derivs_Limiter JDrivetrainControllerBasic::ThetaLimiter

◆ velNotPosDelta

bool JDrivetrainControllerBasic::velNotPosDelta

protected

◆ velTarget

JTwoDTransform JDrivetrainControllerBasic::velTarget

protected

◆ XLimiter

Derivs_Limiter JDrivetrainControllerBasic::XLimiter

◆ YLimiter

Derivs_Limiter JDrivetrainControllerBasic::YLimiter

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

src/JDrivetrainController/JDrivetrainControllerBasic.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JDrivetrainControllerBasic()

Member Function Documentation

◆ disable()

◆ enable()

◆ getAccelLimit()

◆ getDist()

◆ getDistMode()

◆ getDistSetpoint()

◆ getDistTarget()

◆ getEnable()

◆ getIsControlled()

◆ getMaxVel()

◆ getMotorVel()

◆ getNumberMotors()

◆ getVel()

◆ getVelLimit()

◆ isDrivetrainAtTarget()

◆ isVelZero()

◆ moveDist()

◆ moveDistInc()

◆ moveDistTheta()

◆ moveDistThetaInc()

◆ moveDistX()

◆ moveDistXInc()

◆ moveDistY()

◆ moveDistYInc()

◆ moveVel()

◆ resetDist()

◆ run()

◆ setAccelLimit()

◆ setAccelLimitTheta()

◆ setAccelLimitX()

◆ setAccelLimitY()

◆ setDistDelta()

◆ setDistSetpoint()

◆ setEnable()

◆ setMotorDistDelta()

◆ setMotorDistSetpoint()

◆ setMotorVel()

◆ setVel()

◆ setVelLimit()

◆ setVelLimitTheta()

◆ setVelLimitX()

◆ setVelLimitY()

◆ setVelNotPosDelta()

Member Data Documentation

◆ controlled

◆ distError

◆ distMode

◆ drivetrain

◆ lastCalcMillis

◆ ThetaLimiter

◆ velNotPosDelta

◆ velTarget

◆ XLimiter

◆ YLimiter