eeros_architecture:control_system:available_blocks:int
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eeros_architecture:control_system:available_blocks:int [2021/05/16 14:16] – ursgraf | eeros_architecture:control_system:available_blocks:int [2021/07/07 20:06] (current) – ursgraf | ||
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The integrator block allows to integrate an input signal. Before using it set its initial state with | The integrator block allows to integrate an input signal. Before using it set its initial state with | ||
<code cpp> | <code cpp> | ||
- | | + | setInitCondition(T val); |
</ | </ | ||
Without setting the initial state to a meaningful value, the output will be '' | Without setting the initial state to a meaningful value, the output will be '' | ||
Line 8: | Line 8: | ||
An integrator can be enabled or disabled. | An integrator can be enabled or disabled. | ||
<code cpp> | <code cpp> | ||
- | | + | enable(); |
- | disable(); | + | disable(); |
</ | </ | ||
- | This, for instance, helps to stop integrating up a given input while handling an exception. Please note that an integrator is in the disabled state upon creation. | + | This, for instance, helps to stop integrating up a given input while handling an exception. Please note that an integrator is in the disabled state upon creation. |
+ | <code cpp> | ||
+ | setActiveLevel(safetySystem, | ||
+ | </ | ||
+ | If the active level is set, the integrator will be automatically be enabled if the current safety level is equal or greater than the active level. | ||
An integrator block can be limited, such that its integral does not run over a certain limit. This limit can be set by calling | An integrator block can be limited, such that its integral does not run over a certain limit. This limit can be set by calling | ||
<code cpp> | <code cpp> | ||
- | | + | setLimit(T upper, T lower); |
</ | </ | ||
The default values for the limits are the positive and negative maximum values of the given type. | The default values for the limits are the positive and negative maximum values of the given type. | ||
eeros_architecture/control_system/available_blocks/int.1621167383.txt.gz · Last modified: 2021/05/16 14:16 by ursgraf