SpeedFromThrottleWithInertia Class Reference

Estimates speed from throttle with acceleration/inertia modeling (for boats, etc). More...

#include <SpeedFromThrottleWithInertia.h>

Inheritance diagram for SpeedFromThrottleWithInertia:

Collaboration diagram for SpeedFromThrottleWithInertia:

Public Member Functions
	SpeedFromThrottleWithInertia (float maxSpeedMps, float accelerationMps2, uint8_t numMotors=1)
	SpeedFromThrottleWithInertia (Speed maxSpeed, float accelerationMps2, uint8_t numMotors=1)
void	setAcceleration (float a)
float	getAcceleration () const
void	setThrottlePercent (float throttle, uint8_t motor=0) override
	Define the actual throttle value.
void	setSpeedInstant (float speed, uint8_t motor=0)
Speed	getSpeed (uint8_t motor=0) const override
	Get the actual speed based on the last throttle value.
Speed	updateSpeed (uint32_t deltaTimeMs, uint8_t motor=0) override
	For sources with inertia, call this in your main loop with the elapsed time (in milliseconds) to update the speed estimate for a specific motor.
Public Member Functions inherited from SpeedFromThrottle
	SpeedFromThrottle (float maxSpeedMps, uint8_t numMotors=1)
	SpeedFromThrottle (Speed maxSpeed, uint8_t numMotors=1)
void	setMaxSpeed (Speed speed)
bool	onMessage (const Message< float > &msg) override
	Handle Throttle messages to update speed.
void	addSpeedCalibration (float throttlePercent, float speedMps)
	Add or update a calibration point (throttlePercent, speedMps)
void	clearCalibration ()
	Clear all calibration data.
void	setThrottlePercent (float throttlePercent, uint8_t motor=0) override
	Define the actual throttle value.
Speed	getSpeed (uint8_t motor=0) const override
	Get the actual speed based on the last throttle value.
Speed	updateSpeed (uint32_t deltaTimeMs, uint8_t motor=0) override
	For sources with inertia, call this in your main loop with the elapsed time (in milliseconds) to update the speed estimate for a specific motor.
size_t	getMotorCount () const override
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)
virtual Speed	getSpeed (uint8_t motor=0) const =0
	Get the current speed.
virtual void	setThrottlePercent (float value, uint8_t motor=0)=0
	Publish actual speed for a specific motor.
virtual Speed	updateSpeed (uint32_t deltaTimeMs, uint8_t motor=0)=0
	For sources with inertia, call this in your main loop with the elapsed time (in milliseconds) to update the speed estimate for a specific motor.
virtual size_t	getMotorCount () const =0

Protected Attributes
float	acceleration
std::vector< float >	throttlePercent
std::vector< unsigned long >	lastUpdateMs
Protected Attributes inherited from SpeedFromThrottle
std::vector< std::pair< float, float > >	calibrationData
std::vector< float >	speedMps
uint8_t	numMotors = 1
float	maxSpeedMps = 0.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Additional Inherited Members
Protected Member Functions inherited from SpeedFromThrottle
bool	init ()
void	sendSpeedMessage (uint8_t motor=0)
float	getSpeedMPS (float throttlePercent) const
	Get speed in meters per second by interpolating calibration data.

Detailed Description

Estimates speed from throttle with acceleration/inertia modeling (for boats, etc).

This class extends SpeedFromThrottle by simulating acceleration/inertia:

• Speed ramps toward the target value at a configurable acceleration rate (m/s^2).
• Call updateSpeed(deltaTimeSec) in your main loop to advance the speed estimate.
• Useful for boats or vehicles with slow acceleration.

Example usage:

SpeedFromThrottleWithInertia speedMap(2.0f, 0.2f); // 2 m/s max, 0.2 m/s^2
// In your loop:
speedMap.updateSpeed(dt); // dt in seconds
float speed = speedMap.getSpeed();

Member Function Documentation

getSpeed()

Speed getSpeed ( uint8_t  motor = 0 ) const

inlineoverridevirtual

Get the actual speed based on the last throttle value.

Reimplemented from SpeedFromThrottle.

setThrottlePercent()

void setThrottlePercent ( float  throttlePercent, uint8_t  motor = 0  )

inlineoverridevirtual

Define the actual throttle value.

Reimplemented from SpeedFromThrottle.

updateSpeed()

Speed updateSpeed ( uint32_t  deltaTimeMs, uint8_t  motor = 0  )

inlineoverridevirtual

For sources with inertia, call this in your main loop with the elapsed time (in milliseconds) to update the speed estimate for a specific motor.

Reimplemented from SpeedFromThrottle.

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

• src/TinyRobotics/odometry/SpeedFromThrottleWithInertia.h