rmb::Feedforward< DistanceUnit > Class Template Reference

#include <rmb/motorcontrol/feedforward/Feedforward.h>

Inheritance diagram for rmb::Feedforward< DistanceUnit >:

Public Types
using	Distance_t
using	VelocityUnit
using	Velocity_t
using	AccelerationUnit
using	Acceleration_t
using	KsUnit = units::volts
using	Ks_t = units::unit_t<KsUnit>
using	KvUnit
using	Kv_t = units::unit_t<KvUnit>
using	KaUnit
using	Ka_t = units::unit_t<KaUnit>

Public Member Functions
virtual units::volt_t	calculate (Velocity_t velocity, Distance_t distance=Distance_t(0.0), Acceleration_t acceleration=Acceleration_t(0.0)) const =0
virtual Velocity_t	maxAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position) const =0
virtual Velocity_t	minAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position) const =0
virtual Acceleration_t	maxAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position) const =0
virtual Acceleration_t	minAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position) const =0
virtual Kv_t	getVelocityGain () const =0
virtual Ka_t	getAcclerationGain () const =0
virtual units::volt_t	calculateStatic (Velocity_t velocity, Distance_t position=Distance_t(0)) const =0

Detailed Description

template<typename DistanceUnit>
class rmb::Feedforward< DistanceUnit >

Generalized interface for voltage feedforwards.

Template Parameters

DistanceUnit

Base unit of distance for feedforward inputs.

Member Typedef Documentation

Acceleration_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Acceleration_t

Initial value:

 units::unit_t<
      AccelerationUnit>

Type declaration for FeedForward<DistanceUnit>::AccelerationUnit

AccelerationUnit

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::AccelerationUnit

Initial value:

 
      units::compound_unit<VelocityUnit,
                           units::inverse<units::seconds>>

VelocityUnit / Second

Distance_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Distance_t

Initial value:

 
      units::unit_t<DistanceUnit>

User specified distance type

Ka_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Ka_t = units::unit_t<KaUnit>

Type declaration for FeedForward<DistanceUnit>::KaUnit

KaUnit

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::KaUnit

Initial value:

 units::compound_unit<
      units::volts,
      units::inverse<AccelerationUnit>>

Acceleration gain unit is volts / AcclerationUnit

Ks_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Ks_t = units::unit_t<KsUnit>

Type declaration for Feedforward<DistanceUnit>::KsUnit

KsUnit

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::KsUnit = units::volts

Static gain is in volts

Kv_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Kv_t = units::unit_t<KvUnit>

Type declaration for FeedForward<DistanceUnit>::KvUnit

KvUnit

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::KvUnit

Initial value:

 units::compound_unit<
      units::volts, units::inverse<VelocityUnit>>

Velocity gain unit is Volts / VelocityUnit

Velocity_t

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::Velocity_t

Initial value:

 
      units::unit_t<VelocityUnit>

Type declaration for FeedForward<DistanceUnit>::VelocityUnit

VelocityUnit

template<typename DistanceUnit >

using rmb::Feedforward< DistanceUnit >::VelocityUnit

Initial value:

 
      units::compound_unit<DistanceUnit,
                           units::inverse<units::seconds>>

DistanceUnit / Second

Member Function Documentation

calculate()

template<typename DistanceUnit >

virtual units::volt_t rmb::Feedforward< DistanceUnit >::calculate ( Velocity_t velocity, Distance_t distance = Distance_t(0.0), Acceleration_t acceleration = Acceleration_t(0.0) ) const

pure virtual

Calculates a feedforward voltage at a desired velocity, acceleration, and distance.

Parameters

velocity	Desired Velocity
distance	Position of Motor (Not always useful).
acceleration	Desired Acceleration

calculateStatic()

template<typename DistanceUnit >

virtual units::volt_t rmb::Feedforward< DistanceUnit >::calculateStatic ( Velocity_t velocity, Distance_t position = Distance_t(0) ) const

pure virtual

Calculates the static gain of the feedforward at a given position. This is the value added on tot he end of the feedforward calculation. A velocity term is included only to determine the direction of movment. This is useful when adding feedforwads to the PID loops of motor controllers.

Parameters

velocity	term only to determine the direction of movment (positive or negetive).
position	positon at which the static gain is calculated.

Returns

Static gain.

getAcclerationGain()

template<typename DistanceUnit >

virtual Ka_t rmb::Feedforward< DistanceUnit >::getAcclerationGain ( ) const

pure virtual

Return the acceleration gain of feed forward. This is the value that acceleration is multiplied by when calculating voltage. This is useful when adding feedforwads to the PID loops of motor controllers.

Returns

Acceleration gain.

Implemented in rmb::ArmFeedforward, rmb::ElevatorFeedforward< DistanceUnit >, and rmb::SimpleFeedforward< DistanceUnit >.

getVelocityGain()

template<typename DistanceUnit >

virtual Kv_t rmb::Feedforward< DistanceUnit >::getVelocityGain ( ) const

pure virtual

Return the velocity gain of feed forward. This is the value that velocity is multiplied by when calculating voltage. This is useful when adding feedforwads to the PID loops of motor controllers.

Returns

Velocity gain.

Implemented in rmb::ArmFeedforward, rmb::ElevatorFeedforward< DistanceUnit >, and rmb::SimpleFeedforward< DistanceUnit >.

maxAchievableAcceleration()

template<typename DistanceUnit >

virtual Acceleration_t rmb::Feedforward< DistanceUnit >::maxAchievableAcceleration ( units::volt_t maxVoltage, Velocity_t velocity, Distance_t position ) const

pure virtual

Calculates the maximum achievable accceleration of a component.

Parameters

maxVoltage	max voltage that can be applied
velocity	velocity that this acceleration is achived at
position	position that this acceleration is achived at

Returns

Maximum achivable acceleration.

maxAchievableVelocity()

template<typename DistanceUnit >

virtual Velocity_t rmb::Feedforward< DistanceUnit >::maxAchievableVelocity ( units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position ) const

pure virtual

Calculates the minimum achievable velocity of a component.

Parameters

maxVoltage	max voltage that can be applied
acceleration	acceleration that this velocity is achived at
position	position that this veloocity is achived at

Returns

Maximum achivable velocity.

minAchievableAcceleration()

template<typename DistanceUnit >

virtual Acceleration_t rmb::Feedforward< DistanceUnit >::minAchievableAcceleration ( units::volt_t maxVoltage, Velocity_t velocity, Distance_t position ) const

pure virtual

Calculates the minimum achievable accceleration of a component.

Parameters

maxVoltage	max voltage that can be applied
velocity	velocity that this acceleration is achived at
position	position that this acceleration is achived at

Returns

Minimum achivable acceleration.

minAchievableVelocity()

template<typename DistanceUnit >

virtual Velocity_t rmb::Feedforward< DistanceUnit >::minAchievableVelocity ( units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position ) const

pure virtual

Calculates the minimum achievable velocity of a component.

Parameters

maxVoltage	max voltage that can be applied
acceleration	acceleration that this velocity is achived at
position	position that this veloocity is achived at

Returns

Minimum achivable velocity.

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

• src/rmb/motorcontrol/feedforward/Feedforward.h