arpirobot::CubicAxisTransform Class Reference

#include <arpirobot/core/drive/CubicAxisTransform.hpp>

Inheritance diagram for arpirobot::CubicAxisTransform:

Public Member Functions
	CubicAxisTransform (double minPower, double midPower)
double	applyTransform (double rawAxisValue) override

Detailed Description

Transform that applies a cubic function to the magnitude of the input. The cubic function is fit to the data set (0, minPower), (0.5, midPower), (1, 1) This gives a wide range of inputs that will yield a value near midPower Sign of the output will match the sign of the input

WARNING: Since input of 0 results in an output of minPower DO NOT use with a non-zero minPower and a non-zero deadband.

Constructor & Destructor Documentation

CubicAxisTransform()

arpirobot::CubicAxisTransform::CubicAxisTransform	(	double	minPower,
		double	midPower
	)

Parameters

minPower	The minimum output of this cubic function (leave as zero if unsure)
midPower	The "middle" power where the "flat" part of the function should be positioned

Member Function Documentation

applyTransform()

double arpirobot::CubicAxisTransform::applyTransform ( double  rawAxisValue )

overridevirtual

Axis transforms should override this function to implement specific calculations.

Implements arpirobot::BaseAxisTransform.

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

• include/arpirobot/core/drive/CubicAxisTransform.hpp