PIDController Class Reference

A generic PID controller. More...

#include <PIDcontroller.h>

Public Member Functions
	PIDController (float p, float i=0, float d=0, float bound=0)
	Constructor defaults to proportional only. More...
float	calcEffort (float error)
	Used to calculate the effort from the error. More...
float	setKp (float k)
float	setKi (float k)
float	setKd (float k)
float	setCap (float cap)
void	resetSum (void)

Protected Attributes
float	Kp
float	Ki
float	Kd
float	currError = 0
float	prevError = 0
float	sumError = 0
float	errorBound = 0
float	deltaT = 0
float	currEffort = 0

Detailed Description

A generic PID controller.

If errorBound is non-zero, the integral will be capped at that value.

Definition at line 9 of file PIDcontroller.h.

Constructor & Destructor Documentation

PIDController()

PIDController::PIDController ( float  p, float  i = 0, float  d = 0, float  bound = 0  )

inline

Constructor defaults to proportional only.

Definition at line 25 of file PIDcontroller.h.

Member Function Documentation

calcEffort()

float PIDController::calcEffort

(

float

error

)

Used to calculate the effort from the error.

Parameters

error

The current error (which is calculated in the calling code).

Definition at line 8 of file PIDcontroller.cpp.

References currEffort, currError, errorBound, Kd, Ki, Kp, prevError, and sumError.

Referenced by Romi32U4Motor::update().

resetSum()

void PIDController::resetSum ( void  )

inline

Definition at line 34 of file PIDcontroller.h.

References sumError.

Referenced by Romi32U4Motor::setTargetSpeed().

setCap()

float PIDController::setCap ( float  cap )

inline

Definition at line 33 of file PIDcontroller.h.

References errorBound.

setKd()

float PIDController::setKd ( float  k )

inline

Definition at line 32 of file PIDcontroller.h.

References Kd.

setKi()

float PIDController::setKi ( float  k )

inline

Definition at line 31 of file PIDcontroller.h.

References Ki, and sumError.

Referenced by Romi32U4Motor::setPIDCoeffients().

setKp()

float PIDController::setKp ( float  k )

inline

Definition at line 30 of file PIDcontroller.h.

References Kp.

Referenced by Romi32U4Motor::setPIDCoeffients().

Field Documentation

currEffort

float PIDController::currEffort = 0

protected

Definition at line 21 of file PIDcontroller.h.

Referenced by calcEffort().

currError

float PIDController::currError = 0

protected

Definition at line 13 of file PIDcontroller.h.

Referenced by calcEffort().

deltaT

float PIDController::deltaT = 0

protected

Definition at line 19 of file PIDcontroller.h.

errorBound

float PIDController::errorBound = 0

protected

Definition at line 17 of file PIDcontroller.h.

Referenced by calcEffort(), and setCap().

Kd

float PIDController::Kd

protected

Definition at line 12 of file PIDcontroller.h.

Referenced by calcEffort(), and setKd().

Ki

float PIDController::Ki

protected

Definition at line 12 of file PIDcontroller.h.

Referenced by calcEffort(), and setKi().

Kp

float PIDController::Kp

protected

Definition at line 12 of file PIDcontroller.h.

Referenced by calcEffort(), and setKp().

prevError

float PIDController::prevError = 0

protected

Definition at line 14 of file PIDcontroller.h.

Referenced by calcEffort().

sumError

float PIDController::sumError = 0

protected

Definition at line 16 of file PIDcontroller.h.

Referenced by calcEffort(), resetSum(), and setKi().

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

• src/PIDcontroller.h
• src/PIDcontroller.cpp