PIDController Class Reference

#include <PIDController.h>

Inheritance diagram for PIDController:

Collaboration 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

Definition at line 24 of file PIDController.h.

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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.

Definition at line 23 of file PIDController.cpp.

PIDController::~PIDController

(

)

[virtual]

Free the PID object

Definition at line 62 of file PIDController.cpp.

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Member Function Documentation

void PIDController::Disable

(

)

[virtual]

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

Definition at line 375 of file PIDController.cpp.

void PIDController::Enable

(

)

[virtual]

Begin running the PIDController

Definition at line 364 of file PIDController.cpp.

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

Definition at line 213 of file PIDController.cpp.

float PIDController::GetD

(

)

[virtual]

Get the Differential coefficient

Returns:

differential coefficient

Definition at line 199 of file PIDController.cpp.

float PIDController::GetError

(

)

[virtual]

Retruns the current difference of the input from the setpoint

Returns:

the current error

Definition at line 319 of file PIDController.cpp.

float PIDController::GetI

(

)

[virtual]

Get the Integral coefficient

Returns:

integral coefficient

Definition at line 186 of file PIDController.cpp.

float PIDController::GetP

(

)

[virtual]

Get the Proportional coefficient

Returns:

proportional coefficient

Definition at line 173 of file PIDController.cpp.

float PIDController::GetSetpoint

(

)

[virtual]

Returns the current setpoint of the PIDController

Returns:

the current setpoint

Definition at line 304 of file PIDController.cpp.

bool PIDController::IsEnabled

(

)

[virtual]

Return true if PIDController is enabled.

Definition at line 388 of file PIDController.cpp.

void PIDController::Reset

(

)

[virtual]

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

Definition at line 402 of file PIDController.cpp.

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

Definition at line 231 of file PIDController.cpp.

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

Definition at line 247 of file PIDController.cpp.

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

Definition at line 265 of file PIDController.cpp.

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

Definition at line 158 of file PIDController.cpp.

void PIDController::SetSetpoint

(

float

setpoint

)

[virtual]

Set the setpoint for the PIDController

Parameters:

setpoint

the desired setpoint

Definition at line 279 of file PIDController.cpp.

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

• PIDController.h
• PIDController.cpp