#include <PIDController.h>

Inheritance diagram for PIDController:

Collaboration 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

Definition at line 26 of file PIDController.h.

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 33 of file PIDController.cpp.

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.

Definition at line 51 of file PIDController.cpp.

PIDController::~PIDController ( )

virtual

Free the PID object

Definition at line 107 of file PIDController.cpp.

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.

Definition at line 131 of file PIDController.cpp.

void PIDController::Disable ( )

virtual

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

Implements Controller.

Definition at line 520 of file PIDController.cpp.

void PIDController::Enable ( )

virtual

Begin running the PIDController

Implements Controller.

Definition at line 504 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 307 of file PIDController.cpp.

float PIDController::GetD ( )

virtual

Get the Differential coefficient

Returns: differential coefficient

Definition at line 280 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 417 of file PIDController.cpp.

float PIDController::GetF ( )

virtual

Get the Feed forward coefficient

Returns: Feed forward coefficient

Definition at line 293 of file PIDController.cpp.

float PIDController::GetI ( )

virtual

Get the Integral coefficient

Returns: integral coefficient

Definition at line 267 of file PIDController.cpp.

float PIDController::GetP ( )

virtual

Get the Proportional coefficient

Returns: proportional coefficient

Definition at line 254 of file PIDController.cpp.

float PIDController::GetSetpoint ( )

virtual

Returns the current setpoint of the PIDController

Returns: the current setpoint

Definition at line 402 of file PIDController.cpp.

void PIDController::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

Definition at line 568 of file PIDController.cpp.

bool PIDController::IsEnabled ( )

virtual

Return true if PIDController is enabled.

Definition at line 537 of file PIDController.cpp.

void PIDController::Reset ( )

virtual

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

Definition at line 551 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 325 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 341 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 359 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 206 of file PIDController.cpp.

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

Definition at line 231 of file PIDController.cpp.

void PIDController::SetSetpoint ( float setpoint )

virtual

Set the setpoint for the PIDController

Parameters

setpoint the desired setpoint

Definition at line 373 of file PIDController.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation