yams::math::LQRController Class Reference

#include <LQRController.hpp>

Public Member Functions
	LQRController (LQRConfig config)
void	UpdateConfig (LQRConfig config)
void	Reset (wpi::units::radian_t angle, wpi::units::radians_per_second_t velocity)
void	Reset (wpi::units::meter_t distance, wpi::units::meters_per_second_t velocity)
wpi::units::volt_t	Calculate (wpi::units::radian_t measured, wpi::units::radian_t position, wpi::units::radians_per_second_t velocity)
wpi::units::volt_t	Calculate (wpi::units::meter_t measured, wpi::units::meter_t position, wpi::units::meters_per_second_t velocity)
wpi::units::volt_t	Calculate (wpi::units::radians_per_second_t measured, wpi::units::radians_per_second_t velocity)
wpi::units::volt_t	Calculate (wpi::units::meters_per_second_t measured, wpi::units::meters_per_second_t velocity)
LQRConfig::LQRType	GetType () const
const std::optional< LQRConfig > &	GetConfig () const

Detailed Description

Linear Quadratic Regulator controller wrapper.

Wraps a WPILib LinearSystemLoop to provide a common Calculate() interface for flywheel (velocity), arm, and elevator (position + velocity) plant types.

Internally the LQR gain matrix and Kalman filter are heap-allocated alongside the LinearSystemLoop so that the loop's internal raw pointers remain valid for the lifetime of this object. Never copy or std::move an LQRController while it is in use.

Constructor & Destructor Documentation

LQRController()

yams::math::LQRController::LQRController ( LQRConfig  config )

explicit

Construct an LQRController by building the loop from an LQRConfig.

Parameters

config

Fully-configured LQRConfig.

Member Function Documentation

Calculate() [1/4]

wpi::units::volt_t yams::math::LQRController::Calculate	(	wpi::units::meter_t	measured,
		wpi::units::meter_t	position,
		wpi::units::meters_per_second_t	velocity
	)

Calculate the next voltage output for a linear positional mechanism (elevator).

Parameters

measured	Current measured distance.
position	Target distance setpoint.
velocity	Target linear velocity setpoint.

Returns

Voltage to apply to the motor.

Calculate() [2/4]

wpi::units::volt_t yams::math::LQRController::Calculate	(	wpi::units::meters_per_second_t	measured,
		wpi::units::meters_per_second_t	velocity
	)

Calculate the next voltage output for a linear velocity mechanism.

Parameters

measured	Current measured linear velocity.
velocity	Target linear velocity setpoint.

Returns

Voltage to apply to the motor.

Calculate() [3/4]

wpi::units::volt_t yams::math::LQRController::Calculate	(	wpi::units::radian_t	measured,
		wpi::units::radian_t	position,
		wpi::units::radians_per_second_t	velocity
	)

Calculate the next voltage output for an angular positional mechanism (arm).

Parameters

measured	Current measured angle.
position	Target angle setpoint.
velocity	Target angular velocity setpoint.

Returns

Voltage to apply to the motor.

Calculate() [4/4]

wpi::units::volt_t yams::math::LQRController::Calculate	(	wpi::units::radians_per_second_t	measured,
		wpi::units::radians_per_second_t	velocity
	)

Calculate the next voltage output for an angular velocity mechanism (flywheel).

Parameters

measured	Current measured angular velocity.
velocity	Target angular velocity setpoint.

Returns

Voltage to apply to the motor.

GetConfig()

const std::optional< LQRConfig > & yams::math::LQRController::GetConfig

(

)

const

Get the optional LQRConfig used to construct this controller.

Returns

Reference to the optional config.

GetType()

LQRConfig::LQRType yams::math::LQRController::GetType

(

)

const

Get the configured LQR plant type.

Returns

LQRType.

Reset() [1/2]

void yams::math::LQRController::Reset	(	wpi::units::meter_t	distance,
		wpi::units::meters_per_second_t	velocity
	)

Reset the linear position+velocity state of the controller (elevator).

Parameters

distance	Current mechanism distance.
velocity	Current mechanism linear velocity.

Reset() [2/2]

void yams::math::LQRController::Reset	(	wpi::units::radian_t	angle,
		wpi::units::radians_per_second_t	velocity
	)

Reset the angular position+velocity state of the controller (arm/elevator).

Parameters

angle	Current mechanism angle.
velocity	Current mechanism velocity.

UpdateConfig()

void yams::math::LQRController::UpdateConfig

(

LQRConfig

config

)

Replace the current LQR configuration and rebuild the internal loop.

Parameters

config

New LQRConfig to apply.

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The documentation for this class was generated from the following file:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/math/LQRController.hpp