closed loop (uses encoder) motor controller More...

#include <JMotorControllerClosed.h>

Inheritance diagram for JMotorControllerClosed:

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Collaboration diagram for JMotorControllerClosed:

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Public Member Functions
	JMotorControllerClosed (JMotorDriver &_driver, JMotorCompensator &_compensator, JEncoder &_encoder, JControlLoop &_controlLoop, float _velLimit=INFINITY, float _accelLimit=INFINITY, float _distFromSetpointLimit=1, bool _preventGoingWrongWay=true, float _maxStoppingDecel=2)
	Constructor for closed loop motor controller.

void	run ()
	update driver

void	setVel (float vel, bool _run=true)
	set velocity for controller

void	setVelTarget (float vel, bool _run=true)
	set target velocity for controller (acceleration limited)

bool	setPosTarget (float _posTarget, bool _run=true)
	set target position (motor drives towards position, following acceleration profile)

bool	setPosTargetStallable (float _posTarget, bool _run=true)

bool	setPosSetpoint (float _posSetpoint, bool _run=true)
	set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

bool	setPosDelta (float _posDelta, bool _run=true, bool _resetPos=false)
	alternative method for setting velocity that uses setPosSetpoint

void	setAccelPosDelta (float _posDelta, bool _run=true, bool _resetPos=false)

void	setOpenVel (float vel, bool _run=true)
	set velocity without closed loop control

void	setOpenVelTarget (float vel, bool _run=true)
	set velocity without closed loop control, with limited acceleration

float	getSpeedError ()

float	getPosTarget ()
	get position set as target (for smoothed position setting mode)

float	getPosSetpoint ()
	get position controller is currently trying to get to

float	getVelTarget ()
	get target velocity for controller

float	getPosDeltaSetpoint ()

float	getLastPosSetpoint ()

float	getTime ()

float	getDistFromSetpointLimit ()

void	setDistFromSetpointLimit (float _distFromSetpointLimit)

float	getVelSetpoint ()
	returns how fast the motor driver is told to move

float	getVel ()
	get current velocity of motor

float	getPos ()
	get what position the motor is currently at

float	resetPos ()
	reset what position the controller thinks it's in

bool	isPosModeNotVelocity ()
	true if controller is in position target mode, false if in velocity mode

bool	isClosedLoop ()

void	setAccelLimit (float _accelLimit)
	set maximum rate that motor speed can be changed at

void	setVelLimit (float _velLimit)
	set maximum motor speed

float	getAccelLimit ()
	returns value of accelLimit

float	getVelLimit ()
	returns value of velLimit

void	setPreventGoingWrongWay (bool _preventGoingWrongWay)

void	setMaxStoppingDecel (float _maxStoppingDecel)

float	getDriverSetVal ()
	returns the value the motor driver is being set to

bool	setEnable (bool _enable)
	change whether motor controller is enabled

void	setMaxDriverRangeAmount (float _driverRangeAmount)
	set what fraction of driverRange can be used

bool	isDriverInRange ()
	true if motor driver is being set to within its range, false if driver is at a maximum

bool	enable ()
	enable motor controller

bool	disable ()
	disable motor controller

float	getDriverMinRange ()
	if getDriverSetVal goes below this, isDriverInRange will go false

float	getDriverMaxRange ()
	if getDriverSetVal exceeds this, isDriverInRange will go false

bool	getEnable ()
	is the controller enabled

float	getMaxVel ()
	How fast of a motor speed setting would get adjusted to full motor power.

float	getMinVel ()
	slowest speed motor can go

Public Attributes
Derivs_Limiter	posSetpointSmoother

JControlLoop &	controlLoop

Protected Attributes
JMotorDriver &	driver

JMotorCompensator &	compensator

JEncoder &	encoder

float	velLimit

float	accelLimit

float	setVal

bool	driverInRange

bool	open

unsigned long	lastRunMicros

float	velSetpoint

float	velSetpointTarget

bool	posMode

float	posSetpoint

bool	smoothed

float	posDeltaSetpoint

float	posDeltaSetpointTarget

bool	limitSetpointDistFromCurrent

float	distFromSetpointLimit

float	lastPosSetpoint

float	time

Detailed Description

closed loop (uses encoder) motor controller

Constructor & Destructor Documentation

◆ JMotorControllerClosed()

JMotorControllerClosed::JMotorControllerClosed	(	JMotorDriver &	_driver,
		JMotorCompensator &	_compensator,
		JEncoder &	_encoder,
		JControlLoop &	_controlLoop,
		float	_velLimit = `INFINITY`,
		float	_accelLimit = `INFINITY`,
		float	_distFromSetpointLimit = `1`,
		bool	_preventGoingWrongWay = `true`,
		float	_maxStoppingDecel = `2`
	)

inline

Constructor for closed loop motor controller.

Parameters

_driver	(JMotorDriver&)
_compensator	(JMotorCompensator&)
_encoder	(JEncoder)
_controlLoop	(JControlLoop)
_velLimit	(float) default=INFINITY,
_accelLimit	(float) default=INFINITY,
_distFromSetpointLimit	(float)= 1.0,
_preventGoingWrongWay	(bool) default=true,
_maxStoppingDecel	(float) default=2,

Member Function Documentation

◆ disable()

bool JMotorControllerClosed::disable ( )

inlinevirtual

disable motor controller

Return values

(bool) true if state changed

Implements JMotorControllerBase.

◆ enable()

bool JMotorControllerClosed::enable ( )

inlinevirtual

enable motor controller

Return values

(bool) true if state changed

Implements JMotorControllerBase.

◆ getAccelLimit()

float JMotorControllerClosed::getAccelLimit ( )

inlinevirtual

returns value of accelLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getDistFromSetpointLimit()

float JMotorControllerClosed::getDistFromSetpointLimit ( )

inline

◆ getDriverMaxRange()

float JMotorControllerClosed::getDriverMaxRange ( )

inlinevirtual

if getDriverSetVal exceeds this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverMinRange()

float JMotorControllerClosed::getDriverMinRange ( )

inlinevirtual

if getDriverSetVal goes below this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverSetVal()

float JMotorControllerClosed::getDriverSetVal ( )

inlinevirtual

returns the value the motor driver is being set to

Return values

(float)

Implements JMotorControllerBase.

◆ getEnable()

bool JMotorControllerClosed::getEnable ( )

inlinevirtual

is the controller enabled

Return values

(bool)

Implements JMotorControllerBase.

◆ getLastPosSetpoint()

float JMotorControllerClosed::getLastPosSetpoint ( )

inline

◆ getMaxVel()

float JMotorControllerClosed::getMaxVel ( )

inlinevirtual

How fast of a motor speed setting would get adjusted to full motor power.

Note: may change as battery voltage changes

Return values

(float)

Implements JMotorControllerBase.

◆ getMinVel()

float JMotorControllerClosed::getMinVel ( )

inlinevirtual

slowest speed motor can go

Implements JMotorControllerBase.

◆ getPos()

float JMotorControllerClosed::getPos ( )

inlinevirtual

get what position the motor is currently at

Return values

(float)

Implements JMotorController.

◆ getPosDeltaSetpoint()

float JMotorControllerClosed::getPosDeltaSetpoint ( )

inline

◆ getPosSetpoint()

float JMotorControllerClosed::getPosSetpoint ( )

inlinevirtual

get position controller is currently trying to get to

Return values

(float)

Implements JMotorController.

◆ getPosTarget()

float JMotorControllerClosed::getPosTarget ( )

inlinevirtual

get position set as target (for smoothed position setting mode)

Return values

(float)

Implements JMotorController.

◆ getSpeedError()

float JMotorControllerClosed::getSpeedError ( )

inline

◆ getTime()

float JMotorControllerClosed::getTime ( )

inline

◆ getVel()

float JMotorControllerClosed::getVel ( )

inlinevirtual

get current velocity of motor

Return values

(float)

Implements JMotorControllerBase.

◆ getVelLimit()

float JMotorControllerClosed::getVelLimit ( )

inlinevirtual

returns value of velLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getVelSetpoint()

float JMotorControllerClosed::getVelSetpoint ( )

inline

returns how fast the motor driver is told to move

Note: use getVel for actual encoder reading

Return values

(float)

◆ getVelTarget()

float JMotorControllerClosed::getVelTarget ( )

inlinevirtual

get target velocity for controller

Return values

(float) current velocity target

Implements JMotorControllerBase.

◆ isClosedLoop()

bool JMotorControllerClosed::isClosedLoop ( )

inline

◆ isDriverInRange()

bool JMotorControllerClosed::isDriverInRange ( )

inlinevirtual

true if motor driver is being set to within its range, false if driver is at a maximum

Return values

(bool)

Implements JMotorControllerBase.

◆ isPosModeNotVelocity()

bool JMotorControllerClosed::isPosModeNotVelocity ( )

inlinevirtual

true if controller is in position target mode, false if in velocity mode

Return values

(bool)

Implements JMotorController.

◆ resetPos()

float JMotorControllerClosed::resetPos ( )

inlinevirtual

reset what position the controller thinks it's in

Note: don't drive too far without resetting this so that the limited precision of floats doesn't become a problem.

Return values

(float) returns old position

Implements JMotorController.

◆ run()

void JMotorControllerClosed::run ( )

inlinevirtual

update driver

Note: call this function as frequently as possible

Implements JMotorControllerBase.

◆ setAccelLimit()

void JMotorControllerClosed::setAccelLimit ( float _accelLimit )

inlinevirtual

set maximum rate that motor speed can be changed at

Note: set to INFINITY to disable acceleration limiting

Parameters

_accelLimit (float)

Implements JMotorControllerBase.

◆ setAccelPosDelta()

void JMotorControllerClosed::setAccelPosDelta	(	float	_posDelta,
		bool	_run = `true`,
		bool	_resetPos = `false`
	)

inline

◆ setDistFromSetpointLimit()

void JMotorControllerClosed::setDistFromSetpointLimit ( float _distFromSetpointLimit )

inline

◆ setEnable()

bool JMotorControllerClosed::setEnable ( bool _enable )

inlinevirtual

change whether motor controller is enabled

Parameters

_enable (bool)

Note: velocity related variables are reset to zero on disable. you can set velocity then enable

Return values

(bool) true if state changed

Implements JMotorControllerBase.

◆ setMaxDriverRangeAmount()

void JMotorControllerClosed::setMaxDriverRangeAmount ( float _driverRangeAmount )

inlinevirtual

set what fraction of driverRange can be used

Parameters

_driverRangeAmount (float)

Implements JMotorControllerBase.

◆ setMaxStoppingDecel()

void JMotorControllerClosed::setMaxStoppingDecel ( float _maxStoppingDecel )

inline

◆ setOpenVel()

void JMotorControllerClosed::setOpenVel	(	float	vel,
		bool	_run = `true`
	)

inline

set velocity without closed loop control

Parameters

vel	(float) velocity to set
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

◆ setOpenVelTarget()

void JMotorControllerClosed::setOpenVelTarget	(	float	vel,
		bool	_run = `true`
	)

inline

set velocity without closed loop control, with limited acceleration

Parameters

vel	(float) velocity to approach
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

◆ setPosDelta()

bool JMotorControllerClosed::setPosDelta	(	float	_posDelta,
		bool	_run = `true`,
		bool	_resetPos = `false`
	)

inlinevirtual

alternative method for setting velocity that uses setPosSetpoint

Note: handles velocities below getMinVel(), and may have better distance accuracy, doesn't smooth velocity

Parameters

_posDelta	(float) basically velocity
_resetPos	(bool) default=false, keep setting current position to zero
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setting change?

Implements JMotorController.

◆ setPosSetpoint()

bool JMotorControllerClosed::setPosSetpoint	(	float	_posSetpoint,
		bool	_run = `true`
	)

inlinevirtual

set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

Note: run() needs to be called in order for the motor to move

Parameters

_posSetpoint	(float) position setpoint
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setpoint change?

Implements JMotorController.

◆ setPosTarget()

bool JMotorControllerClosed::setPosTarget	(	float	_posTarget,
		bool	_run = `true`
	)

inlinevirtual

set target position (motor drives towards position, following acceleration profile)

Parameters

_posTarget	(float) target position
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the target change?

Implements JMotorController.

◆ setPosTargetStallable()

bool JMotorControllerClosed::setPosTargetStallable	(	float	_posTarget,
		bool	_run = `true`
	)

inline

◆ setPreventGoingWrongWay()

void JMotorControllerClosed::setPreventGoingWrongWay ( bool _preventGoingWrongWay )

inline

◆ setVel()

void JMotorControllerClosed::setVel	(	float	vel,
		bool	_run = `true`
	)

inlinevirtual

set velocity for controller

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

vel	(float)
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Implements JMotorControllerBase.

◆ setVelLimit()

void JMotorControllerClosed::setVelLimit ( float _velLimit )

inlinevirtual

set maximum motor speed

Note: set to INFINITY to disable limit

Parameters

_velLimit (float)

Implements JMotorController.

◆ setVelTarget()

void JMotorControllerClosed::setVelTarget	(	float	vel,
		bool	_run = `true`
	)

inlinevirtual

set target velocity for controller (acceleration limited)

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

vel	(float) target velocity
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Implements JMotorControllerBase.

Member Data Documentation

◆ accelLimit

float JMotorControllerClosed::accelLimit

protected

◆ compensator

JMotorCompensator& JMotorControllerClosed::compensator

protected

◆ controlLoop

JControlLoop& JMotorControllerClosed::controlLoop

◆ distFromSetpointLimit

float JMotorControllerClosed::distFromSetpointLimit

protected

◆ driver

JMotorDriver& JMotorControllerClosed::driver

protected

◆ driverInRange

bool JMotorControllerClosed::driverInRange

protected

◆ encoder

JEncoder& JMotorControllerClosed::encoder

protected

◆ lastPosSetpoint

float JMotorControllerClosed::lastPosSetpoint

protected

◆ lastRunMicros

unsigned long JMotorControllerClosed::lastRunMicros

protected

◆ limitSetpointDistFromCurrent

bool JMotorControllerClosed::limitSetpointDistFromCurrent

protected

◆ open

bool JMotorControllerClosed::open

protected

◆ posDeltaSetpoint

float JMotorControllerClosed::posDeltaSetpoint

protected

◆ posDeltaSetpointTarget

float JMotorControllerClosed::posDeltaSetpointTarget

protected

◆ posMode

bool JMotorControllerClosed::posMode

protected

◆ posSetpoint

float JMotorControllerClosed::posSetpoint

protected

◆ posSetpointSmoother

Derivs_Limiter JMotorControllerClosed::posSetpointSmoother

Derivs_Limiter object, used for smoothly driving to position

◆ setVal

float JMotorControllerClosed::setVal

protected

◆ smoothed

bool JMotorControllerClosed::smoothed

protected

◆ time

float JMotorControllerClosed::time

protected

◆ velLimit

float JMotorControllerClosed::velLimit

protected

◆ velSetpoint

float JMotorControllerClosed::velSetpoint

protected

◆ velSetpointTarget

float JMotorControllerClosed::velSetpointTarget

protected

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

src/JMotorController/JMotorControllerClosed.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JMotorControllerClosed()

Member Function Documentation

◆ disable()

◆ enable()

◆ getAccelLimit()

◆ getDistFromSetpointLimit()

◆ getDriverMaxRange()

◆ getDriverMinRange()

◆ getDriverSetVal()

◆ getEnable()

◆ getLastPosSetpoint()

◆ getMaxVel()

◆ getMinVel()

◆ getPos()

◆ getPosDeltaSetpoint()

◆ getPosSetpoint()

◆ getPosTarget()

◆ getSpeedError()

◆ getTime()

◆ getVel()

◆ getVelLimit()

◆ getVelSetpoint()

◆ getVelTarget()

◆ isClosedLoop()

◆ isDriverInRange()

◆ isPosModeNotVelocity()

◆ resetPos()

◆ run()

◆ setAccelLimit()

◆ setAccelPosDelta()

◆ setDistFromSetpointLimit()

◆ setEnable()

◆ setMaxDriverRangeAmount()

◆ setMaxStoppingDecel()

◆ setOpenVel()

◆ setOpenVelTarget()

◆ setPosDelta()

◆ setPosSetpoint()

◆ setPosTarget()

◆ setPosTargetStallable()

◆ setPreventGoingWrongWay()

◆ setVel()

◆ setVelLimit()

◆ setVelTarget()

Member Data Documentation

◆ accelLimit

◆ compensator

◆ controlLoop

◆ distFromSetpointLimit

◆ driver

◆ driverInRange

◆ encoder

◆ lastPosSetpoint

◆ lastRunMicros

◆ limitSetpointDistFromCurrent

◆ open

◆ posDeltaSetpoint

◆ posDeltaSetpointTarget

◆ posMode

◆ posSetpoint

◆ posSetpointSmoother

◆ setVal

◆ smoothed

◆ time

◆ velLimit

◆ velSetpoint

◆ velSetpointTarget