Class evam::SlewRateDecor

template <class TMotor, unsigned short tMaxStepPerTick>

ClassList > evam > SlewRateDecor

Decorator that limits maximum rate of change (slew rate / ramp). More...

• #include <evamSlewRateDecor.h>

Inherits the following classes: TMotor

Public Functions

Type	Name
unsigned short	GetMaxStep () const
void	Go (signed short value) Set the target control value.
void	SetMaxStep (unsigned short maxStep)
	SlewRateDecor ()
	SlewRateDecor (SlewRateConfig config, Args... args)

Detailed Description

This decorator does not own a heartbeat; it only transforms the value. Wrap it with SampledDecor to get periodic output:

Template parameters:

• TMotor Base motor class (must implement Go(signed short))
• tMaxStepPerTick Default maximum change per tick (1..1000). Default: 50

Public Functions Documentation

function GetMaxStep

inline unsigned short evam::SlewRateDecor::GetMaxStep () const

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function Go

Set the target control value.

inline void evam::SlewRateDecor::Go (
    signed short value
) 

Parameters:

• value Target control value, range -1000..1000

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function SetMaxStep

inline void evam::SlewRateDecor::SetMaxStep (
    unsigned short maxStep
) 

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function SlewRateDecor [1/2]

inline evam::SlewRateDecor::SlewRateDecor () 

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function SlewRateDecor [2/2]

template<typename... Args>
inline evam::SlewRateDecor::SlewRateDecor (
    SlewRateConfig config,
    Args... args
) 

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The documentation for this class was generated from the following file src/evamSlewRateDecor.h