Struct MoveIntegralCommand::Config

• Defined in File move_integral_command.hpp

Nested Relationships

This struct is a nested type of Class MoveIntegralCommand.

Struct Documentation

struct Config

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

Attention

targetIntegralChange and desiredSetpoint must have the same sign.

Public Members

float targetIntegralChange

The desired change with units units * seconds (units of setpoint integrated with respect to time).

float desiredSetpoint

The desired setpoint in units.

float integralSetpointTolerance

The difference between the current and desired integral when the command will be considered to be complete, in the integral of units.

Attention

This value must be >= 0