RSeries astromech firmware
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PID< T > Class Template Reference

#include <drive/PID.h>

Public Types

enum  Direction { kDirect, kReverse }
 
enum  { kManual = 0, kAuto = 1 }
 

Public Member Functions

 PID (T &input, T &output, T &setpoint, T kp, T ki, T kd, Direction direction=kDirect, bool proportialOnError=true)
 Constructor. More...
 
bool process ()
 
void setAutomatic (bool automatic)
 
T getOutputMin () const
 
T getOutputMax () const
 
void setOutputLimits (T outputMin, T outputMax)
 
void setTunings (T Kp, T Ki, T Kd, bool pOnError)
 
void setTunings (T Kp, T Ki, T Kd)
 
void setDirection (Direction direction)
 
void setSampleTime (unsigned sampleTime)
 
bool getProportialOnMeasurement () const
 
bool getProportialOnError () const
 
T getKp () const
 
T getKi () const
 
T getKd () const
 
int getAutomatic () const
 
int getDirection () const
 

Member Enumeration Documentation

◆ anonymous enum

template<typename T >
anonymous enum
Enumerator
kManual 
kAuto 

◆ Direction

template<typename T >
enum PID::Direction
Enumerator
kDirect 
kReverse 

Constructor & Destructor Documentation

◆ PID()

template<typename T >
PID< T >::PID ( T &  input,
T &  output,
T &  setpoint,
T  kp,
T  ki,
T  kd,
Direction  direction = kDirect,
bool  proportialOnError = true 
)
inline

Constructor.

Creates a PID controller linked to the specified Input, Output, and Setpoint. The PID algorithm is in parallel form.

Member Function Documentation

◆ getAutomatic()

template<typename T >
int PID< T >::getAutomatic ( ) const
inline

◆ getDirection()

template<typename T >
int PID< T >::getDirection ( ) const
inline

◆ getKd()

template<typename T >
T PID< T >::getKd ( ) const
inline

◆ getKi()

template<typename T >
T PID< T >::getKi ( ) const
inline

◆ getKp()

template<typename T >
T PID< T >::getKp ( ) const
inline

◆ getOutputMax()

template<typename T >
T PID< T >::getOutputMax ( ) const
inline

◆ getOutputMin()

template<typename T >
T PID< T >::getOutputMin ( ) const
inline

◆ getProportialOnError()

template<typename T >
bool PID< T >::getProportialOnError ( ) const
inline

◆ getProportialOnMeasurement()

template<typename T >
bool PID< T >::getProportialOnMeasurement ( ) const
inline

◆ process()

template<typename T >
bool PID< T >::process ( )
inline

◆ setAutomatic()

template<typename T >
void PID< T >::setAutomatic ( bool  automatic)
inline

◆ setDirection()

template<typename T >
void PID< T >::setDirection ( Direction  direction)
inline

◆ setOutputLimits()

template<typename T >
void PID< T >::setOutputLimits ( T  outputMin,
T  outputMax 
)
inline

◆ setSampleTime()

template<typename T >
void PID< T >::setSampleTime ( unsigned  sampleTime)
inline

◆ setTunings() [1/2]

template<typename T >
void PID< T >::setTunings ( T  Kp,
T  Ki,
T  Kd 
)
inline

◆ setTunings() [2/2]

template<typename T >
void PID< T >::setTunings ( T  Kp,
T  Ki,
T  Kd,
bool  pOnError 
)
inline
The documentation for this class was generated from the following file: