This is a basic PD controller to be used in the demos of this package. More...

Public Member Functions
	SinePositionControl (std::vector< SafeMotor_ptr > motor_list)
	Construct a new SinePositionControl object. More...

	~SinePositionControl ()
	Destroy the SinePositionControl object.

void	start_loop ()
	This method is a helper to start the thread loop.

void	stop_loop ()
	Stop the control and dump the data.

void	set_gains (double kp, double kd)

Private Member Functions
void	loop ()
	this is a simple control loop which runs at a kilohertz. More...

Static Private Member Functions
static THREAD_FUNCTION_RETURN_TYPE	loop (void *instance_pointer)
	this function is just a wrapper around the actual loop function, such that it can be spawned as a posix thread.

Private Attributes
std::vector< SafeMotor_ptr >	motor_list_
	This is list of motors.

real_time_tools::RealTimeThread	rt_thread_
	This is the real time thread object.

bool	stop_loop_
	managing the stopping of the loop

unsigned	memory_buffer_size_
	memory_buffer_size_ is the max size of the memory buffer.

std::vector< std::deque< double > >	encoders_
	Encoder data.

std::vector< std::deque< double > >	velocities_
	Velocity data.

std::vector< std::deque< double > >	currents_
	current data

std::vector< std::deque< double > >	control_buffer_
	control_buffer_

double	kp_
	Controller proportional gain.

double	kd_
	Controller derivative gain.

Detailed Description

This is a basic PD controller to be used in the demos of this package.

Constructor & Destructor Documentation

blmc_drivers::SinePositionControl::SinePositionControl ( std::vector< SafeMotor_ptr > motor_list )

inline

Construct a new SinePositionControl object.

Parameters

motor_slider_pairs

void blmc_drivers::SinePositionControl::loop ( )

private

this is a simple control loop which runs at a kilohertz.

it reads the measurement from the analog sensor, in this case the slider. then it scales it and sends it as the current target to the motor.

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