control

Oct 14, 2024

Changes in this version

type PIDConfig

+ func (conf PIDConfig) String() string

Sep 16, 2024

Changes in this version

+ func TunedPIDErr(name string, tunedVals []PIDConfig) error

+ func TuningInProgressErr(name string) error

type Loop

+ func (l *Loop) GetPIDVals(pidIndex int) PIDConfig

type PIDLoop

+ TunedVals *[]PIDConfig

Apr 12, 2024

Changes in this version

type Loop

+ func (l *Loop) Pause()

+ func (l *Loop) Resume()

+ func (l *Loop) Running() bool

Mar 15, 2024

Changes in this version

+ func UpdateConstantBlock(ctx context.Context, name string, constVal float64, loop *Loop) error

+ func UpdateTrapzBlock(ctx context.Context, name string, maxVel float64, dependsOn []string, ...) error

Feb 29, 2024

Changes in this version

+ const BlockNameConstant

+ const BlockNameEndpoint

+ const BlockNameTrapezoidal

type BlockConfig

+ func CreateConstantBlock(ctx context.Context, name string, constVal float64) BlockConfig

+ func CreateTrapzBlock(ctx context.Context, name string, maxVel float64, dependsOn []string) BlockConfig

+ type Options struct

+ CompleteCustomConfig Config

+ ControllableType string

+ DerivativeType string

+ LoopFrequency float64

+ NeedsAutoTuning bool

+ PositionControlUsingTrapz bool

+ SensorFeedback2DVelocityControl bool

+ UseCustomConfig bool

+ type PIDConfig struct

+ D float64

+ I float64

+ P float64

+ Type string

+ func (conf *PIDConfig) NeedsAutoTuning() bool

+ type PIDLoop struct

+ BlockNames map[string][]string

+ ControlConf Config

+ ControlLoop *Loop

+ Controllable Controllable

+ Options Options

+ PIDVals []PIDConfig

+ func SetupPIDControlConfig(pidVals []PIDConfig, componentName string, options Options, c Controllable, ...) (*PIDLoop, error)

+ func (p *PIDLoop) StartControlLoop() error

+ func (p *PIDLoop) TunePIDLoop(ctx context.Context, cancelFunc context.CancelFunc) error

Feb 15, 2024

Changes in this version

type Loop

+ func (l *Loop) MonitorTuning(ctx context.Context) error

Jan 18, 2024

Changes in this version

type Loop

+ func (l *Loop) ConfigsAtType(ctx context.Context, bType string) []BlockConfig

Nov 28, 2023

Changes in this version

type Loop

+ func (l *Loop) GetTuning(ctx context.Context) bool

+ func (l *Loop) SetTuning(ctx context.Context, val bool)

Oct 2, 2023

Changes in this version

type Controllable

+ SetState func(ctx context.Context, state float64) error

+ State func(ctx context.Context) (float64, error)

Sep 20, 2022

Changes in this version

type Controllable

+ Position func(ctx context.Context, extra map[string]interface{}) (float64, error)

Aug 28, 2022

Changes in this version

+ type Block interface

+ Config func(ctx context.Context) BlockConfig

+ Next func(ctx context.Context, x []Signal, dt time.Duration) ([]Signal, bool)

+ Output func(ctx context.Context) []Signal

+ Reset func(ctx context.Context) error

+ UpdateConfig func(ctx context.Context, config BlockConfig) error

+ type BlockConfig struct

+ Attribute config.AttributeMap

+ DependsOn []string

+ Name string

+ Type controlBlockType

+ type Config struct

+ Blocks []BlockConfig

+ Frequency float64

+ type Loop struct

+ func NewLoop(logger golog.Logger, cfg Config, m Controllable) (*Loop, error)

+ func (l *Loop) BlockList(ctx context.Context) ([]string, error)

+ func (l *Loop) ConfigAt(ctx context.Context, name string) (BlockConfig, error)

+ func (l *Loop) Frequency(ctx context.Context) (float64, error)

+ func (l *Loop) GetConfig(ctx context.Context) Config

+ func (l *Loop) OutputAt(ctx context.Context, name string) ([]Signal, error)

+ func (l *Loop) SetConfigAt(ctx context.Context, name string, config BlockConfig) error

+ func (l *Loop) Start() error

+ func (l *Loop) Stop()

Aug 8, 2022

Changes in this version

+ type Control interface

+ BlockList func(ctx context.Context) ([]string, error)

+ ConfigAt func(ctx context.Context, name string) (ControlBlockConfig, error)

+ Frequency func(ctx context.Context) (float64, error)

+ OutputAt func(ctx context.Context, name string) ([]Signal, error)

+ Start func() error

+ Stop func()

+ type ControlBlock interface

+ Config func(ctx context.Context) ControlBlockConfig

+ Next func(ctx context.Context, x []Signal, dt time.Duration) ([]Signal, bool)

+ Output func(ctx context.Context) []Signal

+ Reset func(ctx context.Context) error

+ UpdateConfig func(ctx context.Context, config ControlBlockConfig) error

+ type ControlBlockConfig struct

+ Attribute config.AttributeMap

+ DependsOn []string

+ Name string

+ Type controlBlockType

+ type ControlConfig struct

+ Blocks []ControlBlockConfig

+ Frequency float64

+ type ControlLoop struct

+ func NewControlLoop(logger golog.Logger, cfg ControlConfig, m Controllable) (*ControlLoop, error)

+ func (c *ControlLoop) BlockList(ctx context.Context) ([]string, error)

+ func (c *ControlLoop) ConfigAt(ctx context.Context, name string) (ControlBlockConfig, error)

+ func (c *ControlLoop) Frequency(ctx context.Context) (float64, error)

+ func (c *ControlLoop) GetConfig(ctx context.Context) ControlConfig

+ func (c *ControlLoop) OutputAt(ctx context.Context, name string) ([]Signal, error)

+ func (c *ControlLoop) SetConfigAt(ctx context.Context, name string, config ControlBlockConfig) error

+ func (c *ControlLoop) Start() error

+ func (c *ControlLoop) Stop()

+ type Controllable interface

+ GetPosition func(ctx context.Context, extra map[string]interface{}) (float64, error)

+ SetPower func(ctx context.Context, power float64, extra map[string]interface{}) error

+ type Signal struct

+ func (s *Signal) GetSignalValueAt(i int) float64

+ func (s *Signal) SetSignalValueAt(i int, val float64)