Ramp generator for smooth transitions. More...

#include <control_types.hpp>

Public Attributes
float	target
float	start
float	max_change
float	output
float	cumsum_dt

Detailed Description

Ramp generator for smooth transitions.

Generates a ramp signal to limit rate of change between values. These are used in motion control of chassis wheels to prevent slip during sudden acceleration or deceleration while in pc mode.

Member Data Documentation

◆ cumsum_dt

float Ramp::cumsum_dt

Cumulative sum of time steps

◆ max_change

float Ramp::max_change

Maximum allowed change per time step

◆ output

float Ramp::output

Current output value

◆ start

float Ramp::start

Starting value of the ramp

◆ target

float Ramp::target

Target value to ramp to

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

Core/Src/Algorithms/control/control_types.hpp