Class governed_diff_drive

• Defined in File governed_diff_drive.hpp

Inheritance Relationships

Base Type

• public cosm::kin2D::diff_drive (Class diff_drive)

Class Documentation

class governed_diff_drive : public cosm::kin2D::diff_drive

Public Functions

inline governed_diff_drive(const config::diff_drive_config *config, hal::actuators::diff_drive_actuator &&actuator)

governed_diff_drive(const governed_diff_drive&) = delete

governed_diff_drive(governed_diff_drive&&) = default

double active_throttle(void) const

Get the current value of the governor.

Returns:

A percent [0.0,1.0].

double applied_throttle(void) const

Get the current value of the governor if it was active (it might not be).

Returns:

A percent [0.0,1.0].

governed_diff_drive &operator=(const governed_diff_drive&) = delete

governed_diff_drive &operator=(governed_diff_drive&&) = default

inline void tv_generator(const tv::switchable_tv_generator *generator)

Add a variance generate to the list of candidate generators. This is a function, rather than part of the constructor because the creation of variance generators is only performed if a certain type of variance is enabled (e.g. motion throttling when certain conditions are met).