motor_controllers

top level overview of how the motor controller is built

PID

description of PID references

BangBang

This is a simple Bang Bang controller node. It will command a preset control effort when the input state is above or below a certain amount of the setpoint.

Publishers

  • Control Effort
    Topicname:~control_effort_topic (From Parameter)
    Type:std_msgs/Float64

    Outputs Control Effort

Subscribers

  • Setpoint
    Topicname:~setpoint_topic (From Parameter)
    Type:std_msgs/Float64

    Sets desired state for control loop to achive

  • State
    Topicname:~state_topic (From Parameter)
    Type:std_msgs/Float64

    Feedback on current state

Parameters

  • ~setpoint_topic
    Type:string
    Default:Required (No default)

    Topic to subscribe to setpoints

  • ~state_topic
    Type:string
    Default:Required (No default)

    Topic to get state feedback on

  • ~control_effort_topic
    Type:string
    Default:Required (No default)

    Topic to publish control effort on.

  • ~deadzone_size
    Type:float
    Default:1.0

    Size of the deadzone where control effort will be set to zero. Deadzone is centered around the setpoint.

  • ~left_bang_effort
    Type:float
    Default:1.0

    Control Effort that is output when state is less than setpoint - (deadzone_size / 2).

  • ~right_bang_effort
    Type:float
    Default:-1.0

    Control Effort that is output when state is greater than setpoint + (deadzone_size / 2).

The Muxer

information about how the two controllers are muxed