motor_controller::PIV Class Reference

#include <PIV.hpp>

Public Member Functions
	PIV ()
	PIV (double _Kpp, double _Kiv, double _Kpv, double _Kvff, double _Kaff, double _Kalp, double _Ts, double _YMin=0, double _YMax=0, double _Kt=0)
	PIV (const struct PIVSettings &_settings)
	~PIV ()
void	setGains (double _Kpp, double _Kiv, double _Kpv)
void	setFeedForwardGain (double _Kvff=0.0, double _Kaff=0.0)
void	setVelSmoothingGain (double _Kalp)
void	setSamplingTime (double _Ts)
void	setOutputLimits (double _YMin, double _YMax)
void	setPositionController (bool _status)
void	setIntegratorWindupCoeff (double _Kt)
void	setPIVSettings (const struct PIVSettings &_settings)
double	getSmoothenedVelocity ()
double	getVelocity ()
bool	isSaturated ()
double	getPosCommand ()
double	saturate_windup (double _value)
double	saturate (double _val)
void	reset ()
double	updateVelLoop (double _velMeasured, double _velCmd, double _posCmd, double accFF=0.0)
double	updatePosLoop (double _posError) const
double	update (double _posMeasured, double _posRef, double _velFF=0.0, double _accFF=0.0)
void	printCoefficients ()
double	getKvff ()
double	getKpp ()

Constructor & Destructor Documentation

PIV() [1/3]

PIV::PIV

(

)

PIV() [2/3]

PIV::PIV	(	double	_Kpp,
		double	_Kiv,
		double	_Kpv,
		double	_Kvff,
		double	_Kaff,
		double	_Kalp,
		double	_Ts,
		double	_YMin = 0,
		double	_YMax = 0,
		double	_Kt = 0
	)

PIV() [3/3]

PIV::PIV

(

const struct PIVSettings &

_settings

)

~PIV()

PIV::~PIV

(

)

Member Function Documentation

getKpp()

double motor_controller::PIV::getKpp ( )

inline

getKvff()

double motor_controller::PIV::getKvff ( )

inline

getPosCommand()

double motor_controller::PIV::getPosCommand ( )

inline

getSmoothenedVelocity()

double motor_controller::PIV::getSmoothenedVelocity ( )

inline

getVelocity()

double motor_controller::PIV::getVelocity ( )

inline

isSaturated()

bool motor_controller::PIV::isSaturated ( )

inline

printCoefficients()

void PIV::printCoefficients

(

)

reset()

void PIV::reset

(

)

saturate()

double PIV::saturate

(

double

_val

)

saturate_windup()

double PIV::saturate_windup

(

double

_value

)

setFeedForwardGain()

void motor_controller::PIV::setFeedForwardGain ( double  _Kvff = 0.0, double  _Kaff = 0.0  )

inline

setGains()

void PIV::setGains	(	double	_Kpp,
		double	_Kiv,
		double	_Kpv
	)

setIntegratorWindupCoeff()

void motor_controller::PIV::setIntegratorWindupCoeff ( double  _Kt )

inline

setOutputLimits()

void motor_controller::PIV::setOutputLimits ( double  _YMin, double  _YMax  )

inline

setPIVSettings()

void PIV::setPIVSettings

(

const struct PIVSettings &

_settings

)

setPositionController()

void motor_controller::PIV::setPositionController ( bool  _status )

inline

setSamplingTime()

void PIV::setSamplingTime

(

double

_Ts

)

setVelSmoothingGain()

void motor_controller::PIV::setVelSmoothingGain ( double  _Kalp )

inline

update()

double PIV::update	(	double	_posMeasured,
		double	_posRef,
		double	_velFF = 0.0,
		double	_accFF = 0.0
	)

updatePosLoop()

double motor_controller::PIV::updatePosLoop ( double  _posError ) const

inline

updateVelLoop()

double PIV::updateVelLoop	(	double	_velMeasured,
		double	_velCmd,
		double	_posCmd,
		double	accFF = 0.0
	)

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

• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PIV.hpp
• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PIV.cpp