Class TorqueController

• Defined in File speed_sae_controller.hpp

Class Documentation

class TorqueController

Public Functions

TorqueController()

Constructor for the TorqueController class.

void initialize(const float &kk_torque, const float &ki_torque, const float &maximum_torque)

initialize the PI controller parameters

Parameters:

• kk_torque – Proportional gain for PI controller

• ki_torque – Integral gain for PI controller

• maximum_torque – Maximum allowable torque

void reset()

Reset the controller state This function resets the integral error and the last recorded time.

float pi_controller(const float &velocity_reference, const float &velocity_current, float &error_speed, float &error_integral, float &term_proportional, float &term_integral)

PI controller for speed control.

Parameters:

• velocity_reference – Desired speed reference

• velocity_current – Current speed of the vehicle

• error_speed – Reference to store speed error

• error_integral – Reference to store integral error

• term_proportional – Reference to store proportional term

• term_integral – Reference to store integral term

Returns:

float Calculated torque to be applied