Struct UnjamIntegralCommand::Config
Defined in File unjam_integral_command.hpp
Nested Relationships
This struct is a nested type of Class UnjamIntegralCommand.
Struct Documentation
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struct Config
Config struct that the user passes into the UnjamIntegralCommand’s constructor.
Public Members
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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.
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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.
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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.
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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.
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float targetUnjamIntegralChange