Cuttlefish/com.roboctopi.cuttlefish.controller/MotorPositionController

MotorPositionController

class MotorPositionController(var goal: Double, var motor: Motor, var enc: RotaryEncoder, var useHardwareVelocity: Boolean = true)

Utility that uses a PID controller to control the position of a motor similarly to a servo.

The default PID controller can be overridden using the setPid function.

Using the scale variable motor positions can be set in units other than radians. For example, the position of a lift could be set in mm of movement rather than radians of motor rotation. Whenever the term "position" is used in this context it refers to the value with this scale applied. Raw angle with be referred to as "angle".

Positions are set relative to a "home" position. This home position can be set using the setHome function.

Parameters

goal

Initial goal

motor

Motor to be controller

enc

Motor encoder

useHardwareVelocity

Whether velocity should be obtained directly from the encoder

Constructors

MotorPositionController

constructor(goal: Double, motor: Motor, enc: RotaryEncoder, useHardwareVelocity: Boolean = true)

Properties

enc

var enc: RotaryEncoder

goal

var goal: Double

lowerLimit

var lowerLimit: Double

If lowerLimitEnabled is set to true the position will not be set lower than this value. This is applied post scaling meaning that if position is in mm this will also be in mm. IMPORTANT: THIS WILL NOT BE APPLIED IF lowerLimitEnabled IS SET TO FALSE.

lowerLimitEnabled

var lowerLimitEnabled: Boolean

If set to true position will be clamped at minimum value of lowerLimit

motor

var motor: Motor

pid

var pid: PID

scale

var scale: Double

Amount that position will be scaled to convert it to radians. Useful for mechanisms like a lift where position should be set in mm instead of angle.

upperLimit

var upperLimit: Double

If upperLimitEnabled is set to true the position will not be set higher than this value. This is applied post scaling meaning that if position is in mm this will also be in mm. IMPORTANT: THIS WILL NOT BE APPLIED IF upperLimitEnabled IS SET TO FALSE.

upperLimitEnabled

var upperLimitEnabled: Boolean

If set to true position will be clamped at maximum value of upperLimit

useHardwareVelocity

var useHardwareVelocity: Boolean