Class UnjamIntegralCommand

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class UnjamIntegralCommand : public tap::control::setpoint::UnjamCommandInterface

Command that takes control of a velocity setpoint subsystem moves it back and forth. One back and forward motion counts as a cycle. Unjamming cycles start by trying to move in negative direction before trying to move in positive direction.

If the unjam command successfully clears its forward and backward threshold it will will clear the velocity setpoint subsystem’s jam and end. If not successful after some number of cycle counts, the command will give up and end without clearing the jam.

Unlike the unjam command, this command will displace the integral by some amount in order to facilitate unjamming.

Like most velocity commands this one will not schedule/will deschedule if IntegrableSetpointSubsystem goes offline.

Public Functions

UnjamIntegralCommand(IntegrableSetpointSubsystem &integrableSetpointSubsystem, const Config &config)
Parameters:

integrableSetpointSubsystem – [in] The associated agitator subsystem to control.

virtual bool isReady() override
virtual void initialize() override
virtual void execute() override
virtual void end(bool interrupted) override
virtual bool isFinished() const override
inline virtual const char *getName() const override
struct Config

Config struct that the user passes into the UnjamIntegralCommand’s constructor.

Public Members

float targetUnjamIntegralChange

The target integral setpoint from the current integral value with units units * seconds (units of setpoint integrated with respect to time) that the integral setpoint subsystem will move back and forth by with unjamming.

Attention

This value must be positive and > 0.

float unjamSetpoint

The target setpoint in units that the integral setpoint subsystem will move back and forth at.

Attention

This value must be positive and > 0.

uint32_t maxWaitTime

The maximum amount of time the controller will wait for the subsystem to reach targetUnjamIntegralChange in milliseconds before trying to move in the opposite direction.

Attention

This value must be > 1000 * (targetUnjamIntegralChange / unjamSetpoint) since this is the minimum possible time it will take for the motor to rotate targetUnjamIntegralChange units.

uint16_t targetCycleCount

The number of cycles to attempt to rotate the velocity setpoint subsystem back and forth.

Attention

This value must be positive and > 0.