LRT14  1.0
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ProfiledPID Class Reference

PID class with motion profiling. More...

#include <ProfiledPID.h>

Inheritance diagram for ProfiledPID:
Collaboration diagram for ProfiledPID:

Public Member Functions

virtual double Update (double dt)
 updates the PID controller, call on each loop
 
virtual void SetSetpoint (double setpoint)
 sets the setpoint
 
- Public Member Functions inherited from PID
 PID (double p_gain, double i_gain, double d_gain, double ff_gain=1.0, double i_decay=0.5, bool feedforward=true, double filterFreq=7.0)
 Constructs a PID controller. All gains are in constant (not timebase) form.
 
 PID ()
 Constructs a PID controller with no gains set.
 
void SetParameters (double p_gain, double i_gain, double d_gain, double ff_gain=1.0, double i_decay=0.87, bool feedforward=true, double filterFreq=7.0)
 Sets PID parameters. All gains are in constant (not timebase) form.
 
void SetInput (double input)
 Sets the feedback input.
 
double GetOutput ()
 Gets the PID output.
 
double GetProportionalGain ()
 Gets the p gain.
 
double GetIntegralGain ()
 Gets the i gain.
 
double GetDerivativeGain ()
 Gets the d gain.
 
double GetFeedForwardGain ()
 Gets the feed forward gain.
 
double GetIntegralDecay ()
 Gets the integral decay rate.
 
double GetInput ()
 Gets the input value.
 
double GetSetpoint ()
 Gets the setpoint value.
 
double GetError ()
 Gets the error value.
 
double GetAccumulatedError ()
 Gets the accumulated running sum.
 
double GetPreviousError ()
 Gets the previous error (one iteration ago).
 
bool IsFeedForward ()
 m_status flag for feed-forward PID.
 
void Reset ()
 Resets PID setpoint, input, error, accumulated error, differential, and output.
 
void DisablePID ()
 Disables PID (output returns setpoint).
 
void EnablePID ()
 Enables PID.
 
void SetIIREnabled (bool enabled)
 Enables an IIR filter on output.
 
void SetIIRDecay (double decay)
 Sets the IFR Decay rate.
 

Detailed Description

PID class with motion profiling.

Member Function Documentation

void ProfiledPID::SetSetpoint ( double  setpoint)
virtual

sets the setpoint

Parameters
setpoint

Reimplemented from PID.

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double ProfiledPID::Update ( double  dt)
virtual

updates the PID controller, call on each loop

Parameters
dttime differential
Returns
pid output

Reimplemented from PID.

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