Class Controller

template <typename refs_T, typename meas_T, typename outputs_T, typename params_T>

ClassList > Controller

Controller interface for various inherited class like pid, rst, pr,...More...

• #include <controller.h>

Public Functions

Type	Name
virtual void	calculate (void) = 0 calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement .
virtual outputs_T	calculateWithReturn (refs_T yref, meas_T y) calculate a new command value according the argument values
virtual outputs_T	getOutput () retrieve the last command value calculated.
virtual int8_t	init (params_T parameters) = 0 initialize the controller.
virtual void	reset (void) = 0 reset internal states and the last command of the controller.
virtual outputs_T	saturate (outputs_T u) limit the argument u betweenupper_bound andlower_bound it is called by thecalculate method.
virtual void	setMeasurement (meas_T measure) capture a new measurement.
virtual void	setReference (refs_T reference) capture a new reference.

Protected Attributes

Type	Name
float32_t	_Ts
outputs_T	_lower_bound
meas_T	_measure
outputs_T	_output
refs_T	_reference
outputs_T	_upper_bound

Detailed Description

Date:

2024

Author:

Régis Ruelland [email protected]

Author:

Luiz Villa [email protected]

Author:

Guillaume Arthaud.

Template parameters:

• refs_T type of the reference
• meas_T type of the measure
• outputs_T type of the output
• params_T type of the parameter

Parameters:

• parameters structure including all parameters needs to make calculations.

we assume that outputs_T has already an order relation implemented.

Public Functions Documentation

function calculate

calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement .

virtual void Controller::calculate (
    void
) = 0

The new command value can be captured using the get_output method.

---

function calculateWithReturn

calculate a new command value according the argument values

inline virtual outputs_T Controller::calculateWithReturn (
    refs_T yref,
    meas_T y
) 

Parameters:

• yrefs reference
• y measure

Returns:

new command value.

---

function getOutput

retrieve the last command value calculated.

inline virtual outputs_T Controller::getOutput () 

Returns:

---

function init

initialize the controller.

virtual int8_t Controller::init (
    params_T parameters
) = 0

Parameters:

• parameters

Returns:

0 if ok -EINVAL else.

---

function reset

virtual void Controller::reset (
    void
) = 0

---

function saturate

limit the argument u betweenupper_bound andlower_bound it is called by thecalculate method.

inline virtual outputs_T Controller::saturate (
    outputs_T u
) 

Parameters:

• u should be a command value.

Returns:

---

function setMeasurement

capture a new measurement.

inline virtual void Controller::setMeasurement (
    meas_T measure
) 

Parameters:

• measure

---

function setReference

capture a new reference.

inline virtual void Controller::setReference (
    refs_T reference
) 

Parameters:

• reference

---

Protected Attributes Documentation

variable _Ts

float32_t Controller< refs_T, meas_T, outputs_T, params_T >::_Ts;

---

variable _lower_bound

outputs_T Controller< refs_T, meas_T, outputs_T, params_T >::_lower_bound;

---

variable _measure

meas_T Controller< refs_T, meas_T, outputs_T, params_T >::_measure;

---

variable _output

outputs_T Controller< refs_T, meas_T, outputs_T, params_T >::_output;

---

variable _reference

refs_T Controller< refs_T, meas_T, outputs_T, params_T >::_reference;

---

variable _upper_bound

outputs_T Controller< refs_T, meas_T, outputs_T, params_T >::_upper_bound;

---

---

The documentation for this class was generated from the following file docs/controlLibrary/src/controller.h