diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate Struct Reference

Stores update rate frequencies (Hz) for the main control loop, (optinal) imu and debug output. More...

#include <base_controller.h>

Classes
struct	Period
	Inverse of the update rates for control, (optional) imu and debug output. More...

Public Member Functions
Period &	period ()
	UpdateRate (double imu_frequency, double control_frequency, double debug_frequency)
	Construct a new Update Rate object. More...

Public Attributes
double	control_
double	debug_
double	imu_
struct diffbot::BaseController::UpdateRate::Period	period_

Detailed Description

template<typename TMotorController, typename TMotorDriver>
struct diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate

Stores update rate frequencies (Hz) for the main control loop, (optinal) imu and debug output.

The UpdateRate contains a nested strcut period_ T, which define the inverse of the rate T = 1/f HZ in seconds. The period (and indirectly the rate) is used together with last_update_time_ to compare if enought time elapsed for a new update. The comparison is done in the main loop (see, main.cpp).

Definition at line 103 of file base_controller.h.

Constructor & Destructor Documentation

UpdateRate()

template<typename TMotorController , typename TMotorDriver >

diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::UpdateRate ( double  imu_frequency, double  control_frequency, double  debug_frequency  )

inline

Construct a new Update Rate object.

Using the frequency parameters imu_frequency, control_frequency and debug_frequency the corresponding periods of period_ are initilized.

Parameters

imu_frequency	Defines how often the imu is read and published.
control_frequency	Defines how ofthen the control block is run (reading encoders and writing motor commands).
debug_frequency	Defines how often debug messages are output.

Definition at line 139 of file base_controller.h.

Member Function Documentation

period()

template<typename TMotorController , typename TMotorDriver >

Period& diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::period ( )

inline

Definition at line 126 of file base_controller.h.

Member Data Documentation

control_

template<typename TMotorController , typename TMotorDriver >

double diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::control_

Definition at line 106 of file base_controller.h.

debug_

template<typename TMotorController , typename TMotorDriver >

double diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::debug_

Definition at line 107 of file base_controller.h.

imu_

template<typename TMotorController , typename TMotorDriver >

double diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::imu_

Definition at line 105 of file base_controller.h.

period_

template<typename TMotorController , typename TMotorDriver >

struct diffbot::BaseController::UpdateRate::Period diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::period_

---

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

• base_controller.h