PIDController Class Reference

#include <PIDController.h>

Inheritance diagram for PIDController:

List of all members.

Public Member Functions
	PIDController (float p, float i, float d, PIDSource *source, PIDOutput *output, float period=0.05)
virtual	~PIDController ()
virtual float	Get ()
virtual void	SetContinuous (bool continuous=true)
virtual void	SetInputRange (float minimumInput, float maximumInput)
virtual void	SetOutputRange (float mimimumOutput, float maximumOutput)
virtual void	SetPID (float p, float i, float d)
virtual float	GetP ()
virtual float	GetI ()
virtual float	GetD ()
virtual void	SetSetpoint (float setpoint)
virtual float	GetSetpoint ()
virtual float	GetError ()
virtual void	SetTolerance (float percent)
virtual bool	OnTarget ()
virtual void	Enable ()
virtual void	Disable ()
virtual bool	IsEnabled ()
virtual void	Reset ()

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Detailed Description

Class implements a PID Control Loop.

Creates a separate thread which reads the given PIDSource and takes care of the integral calculations, as well as writing the given PIDOutput

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Constructor & Destructor Documentation

PIDController::PIDController	(	float	Kp,
		float	Ki,
		float	Kd,
		PIDSource *	source,
		PIDOutput *	output,
		float	period = 0.05
	)

Allocate a PID object with the given constants for P, I, D

Parameters:

Kp	the proportional coefficient
Ki	the integral coefficient
Kd	the derivative coefficient
source	The PIDSource object that is used to get values
output	The PIDOutput object that is set to the output value
period	the loop time for doing calculations. This particularly effects calculations of the integral and differental terms. The default is 50ms.

PIDController::~PIDController

(

)

[virtual]

Free the PID object

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Member Function Documentation

void PIDController::Disable

(

)

[virtual]

Stop running the PIDController, this sets the output to zero before stopping.

Reimplemented in SendablePIDController.

void PIDController::Enable

(

)

[virtual]

Begin running the PIDController

Reimplemented in SendablePIDController.

float PIDController::Get

(

)

[virtual]

Return the current PID result This is always centered on zero and constrained the the max and min outs

Returns:

the latest calculated output

float PIDController::GetD

(

)

[virtual]

Get the Differential coefficient

Returns:

differential coefficient

float PIDController::GetError

(

)

[virtual]

Retruns the current difference of the input from the setpoint

Returns:

the current error

float PIDController::GetI

(

)

[virtual]

Get the Integral coefficient

Returns:

integral coefficient

float PIDController::GetP

(

)

[virtual]

Get the Proportional coefficient

Returns:

proportional coefficient

float PIDController::GetSetpoint

(

)

[virtual]

Returns the current setpoint of the PIDController

Returns:

the current setpoint

bool PIDController::IsEnabled

(

)

[virtual]

Return true if PIDController is enabled.

void PIDController::Reset

(

)

[virtual]

Reset the previous error,, the integral term, and disable the controller.

void PIDController::SetContinuous

(

bool

continuous = true

)

[virtual]

Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters:

continuous

Set to true turns on continuous, false turns off continuous

void PIDController::SetInputRange	(	float	minimumInput,
		float	maximumInput
	)		[virtual]

Sets the maximum and minimum values expected from the input.

Parameters:

minimumInput	the minimum value expected from the input
maximumInput	the maximum value expected from the output

void PIDController::SetOutputRange	(	float	minimumOutput,
		float	maximumOutput
	)		[virtual]

Sets the minimum and maximum values to write.

Parameters:

minimumOutput	the minimum value to write to the output
maximumOutput	the maximum value to write to the output

void PIDController::SetPID	(	float	p,
		float	i,
		float	d
	)		[virtual]

Set the PID Controller gain parameters. Set the proportional, integral, and differential coefficients.

Parameters:

p	Proportional coefficient
i	Integral coefficient
d	Differential coefficient

void PIDController::SetSetpoint

(

float

setpoint

)

[virtual]

Set the setpoint for the PIDController

Parameters:

setpoint

the desired setpoint

Reimplemented in SendablePIDController.

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

• PIDController.h
• PIDController.cpp