#include <SmoothAxis.h>

Public Member Functions
	SmoothAxis ()

virtual	~SmoothAxis ()

void	SetTarget (float newTarget)

float	GetValue ()

bool	isEnabled ()

void	setEnabled (bool enabled)

Private Attributes
bool	m_enabled
	=true if smoothing enabled More...

float	m_target

float	m_prevTarget
	current & previous target settings for smoothing algo More...

const float	kAccelVal = 0.01
	Acceleration increment: approach target by 1%. More...

Detailed Description

Helper class for motor control, such as MecanumDrive.

This object is used to transform raw speed settings read from controls such as Joystick axes, to provide "smoothed" values for writing to motors.

Definition at line 19 of file SmoothAxis.h.

Constructor & Destructor Documentation

SmoothAxis::SmoothAxis ( )

Constructor

Definition at line 16 of file SmoothAxis.cpp.

References setEnabled().

SmoothAxis::~SmoothAxis ( )

virtual

Destructor

Definition at line 23 of file SmoothAxis.cpp.

Member Function Documentation

float SmoothAxis::GetValue ( )

Get target axis value to apply to motor. When enabled, this will be a value that has been smoothed to limit the change in speed (acceleration) and improve wheel traction.

Returns: Current target axis value.

Get target axis value to apply to motor.

The smoothing algorithm limits acceleration to a fixed maximum per iteration. The maximum increment is defined as kAccelVal. The standard iteration period is nominally 20ms, however that value is neither measured nor enforced in this simple algorithm.

Definition at line 47 of file SmoothAxis.cpp.

References isEnabled(), kAccelVal, m_prevTarget, and m_target.

Referenced by MecanumDrive::DoWork().

bool SmoothAxis::isEnabled ( )

Get state of axis value smoothing capability.