Inheritance diagram for GimbalApp:

Public Member Functions
	GimbalApp (IMessageCenter &message_center_ref, IEventCenter &event_center, IDebug &debug_ref, IMotors &motors_ref)
void	init ()
void	set_initial_state ()
bool	calibrate_start_precondition ()
void	wait_for_motors ()
bool	exit_calibrate_cond ()
void	calibrate ()
void	loop ()
bool	is_imu_calibrated ()
void	set_modes (uint8_t modes[3])
void	set_board_mode (BoardMode_t mode)
void	set_act_mode (BoardActMode_t mode)
void	set_motor_mode (GimbalMotorMode_t mode)
void	safe_mode_switch ()
void	get_motor_feedback ()
void	get_imu_headings ()
void	process_commands ()
void	calc_imu_center ()
void	update_imu_angle (float yaw, float pitch)
void	update_ecd_angles ()
void	update_headings ()
void	update_targets ()
void	limit_pitch_target ()
void	cmd_exec ()
void	send_motor_volts ()
void	send_rel_angles ()
Public Member Functions inherited from ExtendedRTOSApp< GimbalApp >
void	run (const void *argument)

Static Public Member Functions
static float	calc_rel_angle (float angle1, float angle2)
static int16_t	calc_ecd_rel_angle (int16_t raw_ecd, int16_t center_offset)

Static Public Attributes
static constexpr uint32_t	LOOP_PERIOD_MS = GIMBAL_TASK_EXEC_TIME
static constexpr float	PITCH_LOWER_LIMIT = -0.1
static constexpr float	PITCH_UPPER_LIMIT = 0.4
static constexpr uint32_t	IMU_CENTER_TARGET_SAMPLES = 100

Member Function Documentation

◆ calc_rel_angle()

float GimbalApp::calc_rel_angle	(	float	angle1,
		float	angle2 )

static

Calculates the smallest relative angle of angle2 relative to angle1.

Assumes angle1 and angle2 are both in radians ([0, 2 * PI] or (-PI, PI). angle1 and angle2 must have the same origin!!!

The resulting angle assumes clockwise is negative and counter-clockwise is positive.

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