Move required estimator methods into superclass
Previously, while most Estimators implemented anything required of them
by the ProfiledSubsystem, any new Estimator or, for example, the Hall
estimator would only flag an error when that specification was built.
Change-Id: I6fb00deebb4d0c65a7f0fe985f110b143bb260b2
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 48caae0..07cc43a 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -19,8 +19,12 @@
namespace frc971 {
namespace zeroing {
+template <typename TPosition, typename TZeroingConstants, typename TState>
class ZeroingEstimator {
public:
+ using Position = TPosition;
+ using ZeroingConstants = TZeroingConstants;
+ using State = TState;
virtual ~ZeroingEstimator(){}
// Returns true if the logic considers the corresponding mechanism to be
@@ -32,28 +36,42 @@
// Returns true if there has been an error.
virtual bool error() const = 0;
+
+ // Returns true if an offset is ready.
+ virtual bool offset_ready() const = 0;
+
+ // Triggers an internal error. This is used for testing the error
+ // logic.
+ virtual void TriggerError() = 0;
+
+ // Resets the estimator, clearing error and zeroing states.
+ virtual void Reset() = 0;
+
+ // Updates the internal logic with new sensor values
+ virtual void UpdateEstimate(const Position &) = 0;
+
+ // Returns the state of the estimator
+ virtual State GetEstimatorState() const = 0;
};
// Estimates the position with an incremental encoder with an index pulse and a
// potentiometer.
-class PotAndIndexPulseZeroingEstimator : public ZeroingEstimator {
+class PotAndIndexPulseZeroingEstimator : public ZeroingEstimator<PotAndIndexPosition,
+ constants::PotAndIndexPulseZeroingConstants,
+ EstimatorState> {
public:
- using Position = PotAndIndexPosition;
- using ZeroingConstants = constants::PotAndIndexPulseZeroingConstants;
- using State = EstimatorState;
-
explicit PotAndIndexPulseZeroingEstimator(
const constants::PotAndIndexPulseZeroingConstants &constants);
// Update the internal logic with the next sensor values.
- void UpdateEstimate(const PotAndIndexPosition &info);
+ void UpdateEstimate(const PotAndIndexPosition &info) override;
// Reset the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Manually trigger an internal error. This is used for testing the error
// logic.
- void TriggerError();
+ void TriggerError() override;
bool error() const override { return error_; }
@@ -73,12 +91,12 @@
}
// Returns true if the sample buffer is full.
- bool offset_ready() const {
+ bool offset_ready() const override {
return start_pos_samples_.size() == constants_.average_filter_size;
}
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// This function calculates the start position given the internal state and
@@ -122,23 +140,22 @@
};
// Estimates the position with an incremental encoder and a hall effect sensor.
-class HallEffectAndPositionZeroingEstimator : public ZeroingEstimator {
+class HallEffectAndPositionZeroingEstimator
+ : public ZeroingEstimator<HallEffectAndPosition,
+ constants::HallEffectZeroingConstants,
+ HallEffectAndPositionEstimatorState> {
public:
- using Position = HallEffectAndPosition;
- using ZeroingConstants = constants::HallEffectZeroingConstants;
- using State = HallEffectAndPositionEstimatorState;
-
explicit HallEffectAndPositionZeroingEstimator(const ZeroingConstants &constants);
// Update the internal logic with the next sensor values.
- void UpdateEstimate(const Position &info);
+ void UpdateEstimate(const Position &info) override;
// Reset the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Manually trigger an internal error. This is used for testing the error
// logic.
- void TriggerError();
+ void TriggerError() override;
bool error() const override { return error_; }
@@ -146,8 +163,10 @@
double offset() const override { return offset_; }
+ bool offset_ready() const override { return zeroed_; }
+
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// Sets the minimum and maximum posedge position values.
@@ -196,20 +215,21 @@
// Estimates the position with an absolute encoder which also reports
// incremental counts, and a potentiometer.
-class PotAndAbsEncoderZeroingEstimator : public ZeroingEstimator {
+class PotAndAbsEncoderZeroingEstimator
+ : public ZeroingEstimator<PotAndAbsolutePosition,
+ constants::PotAndAbsoluteEncoderZeroingConstants,
+ AbsoluteEstimatorState> {
public:
- using Position = PotAndAbsolutePosition;
- using ZeroingConstants = constants::PotAndAbsoluteEncoderZeroingConstants;
- using State = AbsoluteEstimatorState;
-
explicit PotAndAbsEncoderZeroingEstimator(
const constants::PotAndAbsoluteEncoderZeroingConstants &constants);
// Resets the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Updates the sensor values for the zeroing logic.
- void UpdateEstimate(const PotAndAbsolutePosition &info);
+ void UpdateEstimate(const PotAndAbsolutePosition &info) override;
+
+ void TriggerError() override { error_ = true; }
bool zeroed() const override { return zeroed_; }
@@ -218,14 +238,14 @@
bool error() const override { return error_; }
// Returns true if the sample buffer is full.
- bool offset_ready() const {
+ bool offset_ready() const override {
return relative_to_absolute_offset_samples_.size() ==
constants_.average_filter_size &&
offset_samples_.size() == constants_.average_filter_size;
}
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// The zeroing constants used to describe the configuration of the system.
@@ -268,39 +288,36 @@
double position_ = 0.0;
};
-
// Zeros by seeing all the index pulses in the range of motion of the mechanism
// and using that to figure out which index pulse is which.
-class PulseIndexZeroingEstimator : public ZeroingEstimator {
+class PulseIndexZeroingEstimator : public ZeroingEstimator<IndexPosition,
+ constants::EncoderPlusIndexZeroingConstants,
+ IndexEstimatorState> {
public:
- using Position = IndexPosition;
- using ZeroingConstants = constants::EncoderPlusIndexZeroingConstants;
- using State = IndexEstimatorState;
-
explicit PulseIndexZeroingEstimator(const ZeroingConstants &constants)
: constants_(constants) {
Reset();
}
// Resets the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
bool zeroed() const override { return zeroed_; }
// It's as ready as it'll ever be...
- bool offset_ready() const { return true; }
+ bool offset_ready() const override { return true; }
double offset() const override { return offset_; }
bool error() const override { return error_; }
// Updates the internal logic with the next sensor values.
- void UpdateEstimate(const IndexPosition &info);
+ void UpdateEstimate(const IndexPosition &info) override;
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
- void TriggerError() { error_ = true; }
+ void TriggerError() override { error_ = true; }
private:
// Returns the current real position using the relative encoder offset.