Namespace payload::control_math

Namespace List > payload > control_math

Classes

Type	Name
struct	PidConfig
struct	PidGains
struct	PidState
struct	PidTerms
struct	WheelSetpoints

Public Functions

Type	Name
WheelSetpoints	compute_wheel_setpoints (double linear_mps, double angular_rad_s, double wheel_separation_m, double wheel_radius_m, double max_wheel_rpm)
bool	compute_ziegler_nichols_classic (double ku, double pu, PidGains & gains, std::string & error_message)
double	low_pass_filter (double current, double previous_filtered, double alpha)
PidTerms	pid_step (double setpoint_rpm, double measured_rpm, double dt_s, const PidConfig & config, PidState & state)
double	rpm_from_count_delta (int64_t delta_counts, int output_cpr, double dt_s)

Public Functions Documentation

function compute_wheel_setpoints

WheelSetpoints payload::control_math::compute_wheel_setpoints (
    double linear_mps,
    double angular_rad_s,
    double wheel_separation_m,
    double wheel_radius_m,
    double max_wheel_rpm
) 

---

function compute_ziegler_nichols_classic

bool payload::control_math::compute_ziegler_nichols_classic (
    double ku,
    double pu,
    PidGains & gains,
    std::string & error_message
) 

---

function low_pass_filter

double payload::control_math::low_pass_filter (
    double current,
    double previous_filtered,
    double alpha
) 

---

function pid_step

PidTerms payload::control_math::pid_step (
    double setpoint_rpm,
    double measured_rpm,
    double dt_s,
    const PidConfig & config,
    PidState & state
) 

---

function rpm_from_count_delta

double payload::control_math::rpm_from_count_delta (
    int64_t delta_counts,
    int output_cpr,
    double dt_s
) 

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The documentation for this class was generated from the following file controls/sae_2025_ws/src/payload/include/payload/control_math.hpp