lib/motion.h File Reference

A PID-controlled MotorGroup. More...

#include <kern/global.h>
#include <lib/motor_group.h>
#include <lib/pid.h>


Data Structures
struct	MotionController
Functions
void	motion_init (MotionController *motion, MotorGroup motor, uint8_t encoder_port, float kp, float ki, float kd)
void	motion_set_goal (MotionController *motion, int32_t goal)
void	motion_update (MotionController *motion)
bool	motion_goal_reached (MotionController *motion)

Detailed Description

A MotionController provides a PID-controlled MotorGroup.

Given a MotorGroup (one or more motors), an encoder port and a target position, the MotionController will attempt to drive the MotorGroup to the given target.

Function Documentation

bool motion_goal_reached ( MotionController * motion )

Check if the MotionController's goal has been reached

Returns:: true if goal reached, false otherwise

void motion_init	(	MotionController *	motion,
		MotorGroup	motor,
		uint8_t	encoder_port,
		float	kp,
		float	ki,
		float	kd
	)

Create a new MotionController

Parameters:

	motion	MotionController to initialise
	motor	MotorGroup to drive
	encoder_port	Encoder port to read motor position from
	kp	Proportional constant for PID
	ki	Integral constant for PID
	kd	Derivative constant for PID

void motion_set_goal	(	MotionController *	motion,
		int32_t	goal
	)

Set the target position for the MotionController. The controller will immediately start driving the motor towards the goal.

Parameters:

	motion	MotionController to set
	goal	Goal position to drive towards

void motion_update ( MotionController * motion )

Perform one cycle of the motion controller loop. Call as often as possible.

Parameters:

motion

MotionController to run

lib/motion.h File Reference

Data Structures

Functions

Detailed Description

Function Documentation