rmb::LinearPositionController Class Reference

#include <rmb/motorcontrol/LinearPositionController.h>

Public Types
using	ConversionUnit
using	ConversionUnit_t = units::unit_t<ConversionUnit>

Public Member Functions
virtual void	setPosition (units::meter_t position)=0
virtual units::meter_t	getTargetPosition () const =0
virtual void	setPower (double power)=0
virtual double	getPower () const =0
virtual units::meter_t	getMinPosition () const =0
virtual units::meter_t	getMaxPosition () const =0
virtual void	disable ()=0
virtual void	stop ()=0
virtual units::meters_per_second_t	getVelocity () const =0
virtual units::meter_t	getPosition () const =0
virtual void	setEncoderPosition (units::meter_t position=0_m)=0
virtual units::meter_t	getTolerance () const =0
virtual units::meter_t	getError () const
virtual bool	atTarget () const

Detailed Description

Interface for controlling a mechanism's linear position used by wrappers of device specific APIs.

Member Typedef Documentation

ConversionUnit

using rmb::LinearPositionController::ConversionUnit

Initial value:

 
      units::compound_unit<units::meters, units::inverse<units::radians>>

Member Function Documentation

atTarget()

virtual bool rmb::LinearPositionController::atTarget ( ) const

inlinevirtual

Common interface for getting whether the mechanism has achived it's target velocity.

Returns

true is the controller has achived the target velocity.

disable()

virtual void rmb::LinearPositionController::disable ( )

pure virtual

Common interface for disabling a mechanism.

getError()

virtual units::meter_t rmb::LinearPositionController::getError ( ) const

inlinevirtual

Common interface for getting the error between the velocities controllers target velocity and the actual velocity measured by the encoder.

Returns

position error in radians per second.

getMaxPosition()

virtual units::meter_t rmb::LinearPositionController::getMaxPosition ( ) const

pure virtual

Common interface for getting the maximum linear position.

Returns

The maximum linear position in meters.

getMinPosition()

virtual units::meter_t rmb::LinearPositionController::getMinPosition ( ) const

pure virtual

Common interface for getting the minimum linear position.

Returns

The minimum linear position in meters.

getPosition()

virtual units::meter_t rmb::LinearPositionController::getPosition ( ) const

pure virtual

Common interface for returning the linear position of an encoder.

Returns

The position of the encoder in meters.

getPower()

virtual double rmb::LinearPositionController::getPower ( ) const

pure virtual

Retrieve the percentage [0.0, 1.0] output of the motor

getTargetPosition()

virtual units::meter_t rmb::LinearPositionController::getTargetPosition ( ) const

pure virtual

Common interface for getting the target linear position.

Returns

The target linear position in meters.

getTolerance()

virtual units::meter_t rmb::LinearPositionController::getTolerance ( ) const

pure virtual

Common interface for getting a controllers tolerance

getVelocity()

virtual units::meters_per_second_t rmb::LinearPositionController::getVelocity ( ) const

pure virtual

Common interface for returning the linear velocity of an encoder.

Returns

The velocity of the encoder in meters per second.

setEncoderPosition()

virtual void rmb::LinearPositionController::setEncoderPosition ( units::meter_t position = 0_m )

pure virtual

Common interface for setting the reported encoder position

Parameters

position

The position to report

setPosition()

virtual void rmb::LinearPositionController::setPosition ( units::meter_t position )

pure virtual

Common interface for setting the target linear position.

Parameters

position

The target linear position in meters.

setPower()

virtual void rmb::LinearPositionController::setPower ( double power )

pure virtual

Common interface for setting a mechanism's raw power output.

stop()

virtual void rmb::LinearPositionController::stop ( )

pure virtual

Common interface to stop the mechanism until setPosition is called again.

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

• src/rmb/motorcontrol/LinearPositionController.h