Base class for all controllers, which define drivetrain command containing different variations of
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#include <BaseController.h>
Public Member Functions | |
| virtual TorqueControllerOutput_s | evaluate (const SharedCarState_s &state)=0 |
| This mehod must be implemented by every controller in the Tc Muxer. This is called in the Muxer whenever the drivetrain command is obtained. TorqueControllerMux.cpp to see that in every tick of the system, the active controller must be ticked through this method. More... | |
Detailed Description
Base class for all controllers, which define drivetrain command containing different variations of
speed set points and necessary torque set points to be requested from the motors in order to achieve said speeds. required method(s): evaluate
Definition at line 17 of file BaseController.h.
Member Function Documentation
◆ evaluate()
|
pure virtual |
This mehod must be implemented by every controller in the Tc Muxer. This is called in the Muxer whenever the drivetrain command is obtained. TorqueControllerMux.cpp to see that in every tick of the system, the active controller must be ticked through this method.
- Parameters
-
state with all sensor information to properly define torque set points
- Returns
- TorqueControllerOutput_s This is a Drivetrain command passed along with a state boolean to ensure car controllers are working properly
Implemented in DrivebrainController, DumbController, BaseLaunchController, TorqueControllerCASEWrapper< message_queue >, TorqueControllerLoadCellVectoring, TorqueControllerSimple, and TestControllerType.
The documentation for this class was generated from the following file:
- lib/systems/include/BaseController.h
