#include <sr_deadband.hpp>

Public Member Functions
	HysteresisDeadband ()
bool	is_in_deadband (T demand, T error, T deadband, double deadband_multiplicator=5.0, unsigned int nb_errors_for_avg=50)
	~HysteresisDeadband ()
Private Attributes
T	deadband
bool	entered_small_deadband
T	last_demand
std::deque< T >	last_errors

Detailed Description

template<class T>
class sr_deadband::HysteresisDeadband< T >

Definition at line 51 of file sr_deadband.hpp.

Constructor & Destructor Documentation

template<class T >

sr_deadband::HysteresisDeadband< T >::HysteresisDeadband ( ) [inline]

Hysteresis deadband: we average the last N errors. If this average is less than a small deadband, we "enter the deadband zone" and send only a command of zero to the motor. We leave the deadband zone if the average of the error is getting bigger than x*deadband, or if we receive a new command.

Definition at line 60 of file sr_deadband.hpp.

template<class T >

sr_deadband::HysteresisDeadband< T >::~HysteresisDeadband ( ) [inline]

Definition at line 65 of file sr_deadband.hpp.

Member Function Documentation

template<class T >

bool sr_deadband::HysteresisDeadband< T >::is_in_deadband	(	T	demand,
		T	error,
		T	deadband,
		double	deadband_multiplicator = `5.0`,
		unsigned int	nb_errors_for_avg = `50`
	)		`[inline]`

Are we in the hysteresis deadband? If we are in it, then we're just sending a force demand of 0.

Parameters:

demand	The demand
error	The error (demand - actual value)
deadband	the deadband value
deadband_multiplicator	the value by which we multiply the deadband to have the bigger deadband against which we check for leaving the deadband zone
nb_errors_for_avg	the nb of errors we keep for averaging