SteeringSystem Class Reference

#include <SteeringSystem.h>

Collaboration diagram for SteeringSystem:

Public Member Functions
	SteeringSystem (SteeringEncoderInterface *primarySensor, TelemetryInterface *telemInterface)
	SteeringSystem (SteeringEncoderInterface *primarySensor, TelemetryInterface *telemInterface, float filterAlpha)
	SteeringSystem (SteeringEncoderInterface *primarySensor, TelemetryInterface *telemInterface, float filterAlphaPrimary, float filterAlphaSecondary)
void	tick (const SteeringSystemTick_s &intake)
	Computes steering angle and status of the steering system. More...
const SteeringSystemData_s &	getSteeringSystemData ()
	Get a reference to the steering system's data. More...
void	reportSteeringStatus (const float angle, const float filteredAngleEncoder, const float filteredAngleAnalog, const uint8_t systemStatus, const uint8_t encoderStatus, const uint8_t analogSensorStatus)

Private Attributes
SteeringEncoderInterface *	primarySensor_
SteeringEncoderConversion_s	primaryConversion_
SteeringSystemData_s	steeringData_
Filter_IIR< float >	steeringFilters_ [NUM_SENSORS]
float	filteredAnglePrimary_
float	filteredAngleSecondary_
TelemetryInterface *	telemHandle_

Detailed Description

Definition at line 30 of file SteeringSystem.h.

Constructor & Destructor Documentation

SteeringSystem() [1/3]

SteeringSystem::SteeringSystem ( SteeringEncoderInterface *  primarySensor, TelemetryInterface *  telemInterface  )

inline

Definition at line 48 of file SteeringSystem.h.

    : SteeringSystem(primarySensor, telemInterface, DEFAULT_STEERING_ALPHA)
    {}

SteeringSystem() [2/3]

SteeringSystem::SteeringSystem ( SteeringEncoderInterface *  primarySensor, TelemetryInterface *  telemInterface, float  filterAlpha  )

inline

Definition at line 52 of file SteeringSystem.h.

    : SteeringSystem(primarySensor, telemInterface, filterAlpha, filterAlpha)
    {}

SteeringSystem() [3/3]

SteeringSystem::SteeringSystem ( SteeringEncoderInterface *  primarySensor, TelemetryInterface *  telemInterface, float  filterAlphaPrimary, float  filterAlphaSecondary  )

inline

Definition at line 56 of file SteeringSystem.h.

    : primarySensor_(primarySensor)
    , telemHandle_(telemInterface)
    {
        steeringFilters_[0] = Filter_IIR<float>(filterAlphaPrimary);
        steeringFilters_[1] = Filter_IIR<float>(filterAlphaSecondary);
        
    }

Member Function Documentation

getSteeringSystemData()

const SteeringSystemData_s & SteeringSystem::getSteeringSystemData ( )

inline

Get a reference to the steering system's data.

Returns

const SteeringSystemData_s&

Definition at line 72 of file SteeringSystem.h.

    {
        return steeringData_;
    }

reportSteeringStatus()

void SteeringSystem::reportSteeringStatus	(	const float	angle,
		const float	filteredAngleEncoder,
		const float	filteredAngleAnalog,
		const uint8_t	systemStatus,
		const uint8_t	encoderStatus,
		const uint8_t	analogSensorStatus
	)

Definition at line 32 of file SteeringSystem.cpp.

{
    telemHandle_->update_steering_status_CAN_msg(
        angle,
        filteredAngleEncoder,
        filteredAngleAnalog,
        systemStatus,
        encoderStatus,
        analogSensorStatus);
}

tick()

void SteeringSystem::tick

(

const SteeringSystemTick_s &

intake

)

Computes steering angle and status of the steering system.

Parameters

secondaryAngle

The computed steering angle as reported by the secondary steering sensor.

Returns

SteeringSystemOutput_s contains steering angle and SteeringSystemStatus_e

Definition at line 4 of file SteeringSystem.cpp.

{
    // System works at 100hz
    // 1. Polls upper steering sensor
    // 2. Computes internal state
    if (intake.tick.triggers.trigger100)
    {
        filteredAngleSecondary_ = steeringFilters_[1].filtered_result(intake.secondaryConversion.conversion);
        primaryConversion_.status = SteeringEncoderStatus_e::STEERING_ENCODER_ERROR;
        steeringData_.status = SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL;
        steeringData_ = {
            .angle = filteredAngleSecondary_,
            .status = SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED};
    }
 
    // Report at 50Hz
    if (intake.tick.triggers.trigger50)
    {
        reportSteeringStatus(
            steeringData_.angle,
            0,
            filteredAngleSecondary_,
            static_cast<uint8_t>(steeringData_.status),
            static_cast<uint8_t>(primaryConversion_.status),
            static_cast<uint8_t>(intake.secondaryConversion.status));
    }
}

Member Data Documentation

filteredAnglePrimary_

float SteeringSystem::filteredAnglePrimary_

private

Definition at line 43 of file SteeringSystem.h.

filteredAngleSecondary_

float SteeringSystem::filteredAngleSecondary_

private

Definition at line 44 of file SteeringSystem.h.

primaryConversion_

SteeringEncoderConversion_s SteeringSystem::primaryConversion_

private

Definition at line 34 of file SteeringSystem.h.

primarySensor_

SteeringEncoderInterface* SteeringSystem::primarySensor_

private

Definition at line 33 of file SteeringSystem.h.

steeringData_

SteeringSystemData_s SteeringSystem::steeringData_

private

Definition at line 35 of file SteeringSystem.h.

steeringFilters_

Filter_IIR<float> SteeringSystem::steeringFilters_[NUM_SENSORS]

private

Utility digital IIR filters 0 : primary sensor filter 1 : secondary sensor filter

Definition at line 42 of file SteeringSystem.h.

telemHandle_

TelemetryInterface* SteeringSystem::telemHandle_

private

Definition at line 46 of file SteeringSystem.h.

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

• lib/systems/include/SteeringSystem.h
• lib/systems/src/SteeringSystem.cpp