HEADING Class Reference

Finite State Machine for heading control based on IMU data. More...

#include <heading.h>

Public Types
enum	state { S0_INIT , S1_IDLE , S2_RUN }
typedef enum HEADING::state	state_t

Public Member Functions
	HEADING ()
	Constructor for the HEADING class.
int32_t	get_M1_eff (void)
	Retrieves the motor 1 effort calculated by the heading controller.
int32_t	get_M2_eff (void)
	Retrieves the motor 2 effort calculated by the heading controller.
void	run (void)
	Executes one iteration of the heading FSM and PID controller.

Detailed Description

Finite State Machine for heading control based on IMU data.

Uses a PID control loop to drive motor efforts to reduce heading error.

Member Enumeration Documentation

state

enum HEADING::state

Enumerator
S0_INIT	Initialization state.
S1_IDLE	Idle state (waiting for control activation)
S2_RUN	Active heading control loop.

Constructor & Destructor Documentation

HEADING()

HEADING::HEADING

(

)

Constructor for the HEADING class.

Initializes FSM state to S0_INIT.

Member Function Documentation

get_M1_eff()

int32_t HEADING::get_M1_eff

(

void

)

Retrieves the motor 1 effort calculated by the heading controller.

Returns the current motor 1 effort calculated by the heading controller.

Returns

Signed effort for motor 1.

Signed 32-bit PWM effort value for motor 1.

get_M2_eff()

int32_t HEADING::get_M2_eff

(

void

)

Retrieves the motor 2 effort calculated by the heading controller.

Returns the current motor 2 effort calculated by the heading controller.

Returns

Signed effort for motor 2.

Signed 32-bit PWM effort value for motor 2.

run()

void HEADING::run

(

void

)

Executes one iteration of the heading FSM and PID controller.

Executes one iteration of the heading control FSM.

Based on IMU Euler angle data and a commanded heading setpoint, calculates a control effort using PID logic and outputs motor efforts.

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The documentation for this class was generated from the following files:

• Inc/heading.h
• Src/heading.cpp