PIDController Class Reference

#include <PIDController.h>

Inheritance diagram for PIDController:

Public Member Functions
	PIDController (float p, float i, float d, PIDSource *source, PIDOutput *output, float period=0.05)
	PIDController (float p, float i, float d, float f, 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 void	SetPID (float p, float i, float d, float f)
virtual float	GetP ()
virtual float	GetI ()
virtual float	GetD ()
virtual float	GetF ()
virtual void	SetSetpoint (float setpoint)
virtual float	GetSetpoint ()
virtual float	GetError ()
virtual void	SetTolerance (float percent)
virtual void	SetAbsoluteTolerance (float absValue)
virtual void	SetPercentTolerance (float percentValue)
virtual bool	OnTarget ()
virtual void	Enable ()
virtual void	Disable ()
virtual bool	IsEnabled ()
virtual void	Reset ()
virtual void	InitTable (ITable *table)

Protected Member Functions
void	Calculate ()
	DISALLOW_COPY_AND_ASSIGN (PIDController)

Protected Attributes
ITable *	m_table

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

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	(	float	Kp,
		float	Ki,
		float	Kd,
		float	Kf,
		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

Member Function Documentation

void PIDController::Calculate ( )

protected

Read the input, calculate the output accordingly, and write to the output. This should only be called by the Notifier indirectly through CallCalculate and is created during initialization.

void PIDController::Disable ( )

virtual

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

Implements Controller.

void PIDController::Enable ( )

virtual

Begin running the PIDController

Implements Controller.

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::GetF ( )

virtual

Get the Feed forward coefficient

Returns

Feed forward coefficient

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::SetPID ( float  p, float  i, float  d, float  f  )

virtual

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

Parameters

p	Proportional coefficient
i	Integral coefficient
d	Differential coefficient
f	Feed forward coefficient

void PIDController::SetSetpoint ( float  setpoint )

virtual

Set the setpoint for the PIDController

Parameters

setpoint

the desired setpoint

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

• PIDController.h
• PIDController.cpp