arpirobot::PID Class Reference

#include <arpirobot/core/action/PID.hpp>

Public Member Functions
	PID (double kp=0, double ki=0, double kd=0, double kf=0, double min=-1.0, double max=1.0)
double	getKp ()
void	setKp (double kp)
double	getKi ()
void	setKi (double ki)
double	getKd ()
void	setKd (double kd)
double	getKf ()
void	setKf (double kf)
double	getMin ()
void	setMin (double min)
double	getMax ()
void	setMax (double max)
double	getSetpoint ()
void	setSetpoint (double setpoint)
void	reset ()
double	getOutput (double currentPv)

Detailed Description

Implementation of a simple PID controller with feedforward gain support.

Constructor & Destructor Documentation

PID()

arpirobot::PID::PID	(	double	kp = 0,
		double	ki = 0,
		double	kd = 0,
		double	kf = 0,
		double	min = -1.0,
		double	max = 1.0
	)

Construct a new PID object

Parameters

kp	Proportional gain
ki	Integral gain
kd	Derivative gain
kf	Feedforward gain (often not used, but useful for some systems)
min	Minimum value to cap PID output at
max	Maximum value to cap PID output at

Member Function Documentation

getKd()

double arpirobot::PID::getKd

(

)

Get the derivitive gain

Returns

derivative gain (kd)

getKf()

double arpirobot::PID::getKf

(

)

Get the feedforward gain

Returns

feedforward gain (kf)

getKi()

double arpirobot::PID::getKi

(

)

Get the integral gain

Returns

integral gain (ki)

getKp()

double arpirobot::PID::getKp

(

)

Get the proportional gain

Returns

proportional gain (kp)

getMax()

double arpirobot::PID::getMax

(

)

Get the maximum allowed PID output

Returns

max allowed PID output

getMin()

double arpirobot::PID::getMin

(

)

Get the minimum allowed PID output

Returns

min allowed PID output

getOutput()

double arpirobot::PID::getOutput

(

double

currentPv

)

Calculate the current output of the PID controller.

Parameters

currentPv

Current value of the process variable.

Returns

The PID controller's output, capped at the set min and max values

getSetpoint()

double arpirobot::PID::getSetpoint

(

)

Get the controller's current setpoint

Returns

Current setpoint

reset()

void arpirobot::PID::reset

(

)

Reset the PID controller's internal state. This resets the accumulated integral value and the previous error used by the derivative gain.

setKd()

void arpirobot::PID::setKd

(

double

kd

)

Set the derivative gain

Parameters

kd	New value of kd

setKf()

void arpirobot::PID::setKf

(

double

kf

)

Set the feedforward gain

Parameters

kf	New value of kf

setKi()

void arpirobot::PID::setKi

(

double

ki

)

Set the integral gain (ki)

Parameters

ki	New value of ki

setKp()

void arpirobot::PID::setKp

(

double

kp

)

Set the proportional gain (kp)

Parameters

kp	New value of kp

setMax()

void arpirobot::PID::setMax

(

double

max

)

Set the maximum allowed PID output

Parameters

max	New max allowed PID output

setMin()

void arpirobot::PID::setMin

(

double

min

)

Set the minimum allowed PID output

Parameters

min	New min allowed PID output

setSetpoint()

void arpirobot::PID::setSetpoint

(

double

setpoint

)

Set the controller's setpoint

Parameters

setpoint

New setpoint for the controller

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

• include/arpirobot/core/control/PID.hpp