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https://github.com/odriverobotics/ODrive.git
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Samuel Sadok
7fd0806d49
The InputPort/OutputPort infrastructure facilitates safer data paths between components: OutputPorts store a value and the age of the value measured in number of control loop iterations. InputPorts can be connected to various sources, for instance an OutputPort. InputPorts expose the values to consumers in the form of std::optional to reflect the fact that an InputPort can be dangling or connected to a stale OutputPort.
31 lines
857 B
C++
31 lines
857 B
C++
#ifndef __OPEN_LOOP_CONTROLLER_HPP
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#define __OPEN_LOOP_CONTROLLER_HPP
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#include "component.hpp"
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#include <cmath>
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#include <autogen/interfaces.hpp>
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class OpenLoopController : public ComponentBase {
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public:
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void update(uint32_t timestamp) final;
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// Config
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float max_current_ramp_ = INFINITY; // [A/s]
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float max_voltage_ramp_ = INFINITY; // [V/s]
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float max_phase_vel_ramp_ = INFINITY; // [rad/s^2]
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// Inputs
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float target_vel_ = 0.0f;
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float target_current_ = 0.0f;
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float target_voltage_ = 0.0f;
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// State/Outputs
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uint32_t timestamp_ = 0;
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OutputPort<float2D> Idq_setpoint_ = {{0.0f, 0.0f}};
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OutputPort<float2D> Vdq_setpoint_ = {{0.0f, 0.0f}};
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OutputPort<float> phase_ = 0.0f;
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OutputPort<float> phase_vel_ = 0.0f;
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OutputPort<float> total_distance_ = 0.0f;
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};
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#endif // __OPEN_LOOP_CONTROLLER_HPP
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