PIDController Class Reference

#include <pid.h>

Public Member Functions
	PIDController (float P, float I, float D, float ramp, float limit)
	~PIDController ()=default
float	operator() (float error)

Public Attributes
float	P
	Proportional gain. More...
float	I
	Integral gain. More...
float	D
	Derivative gain. More...
float	output_ramp
	Maximum speed of change of the output value. More...
float	limit
	Maximum output value. More...

Protected Attributes
float	integral_prev
	last integral component value More...
float	error_prev
	last tracking error value More...
unsigned long	timestamp_prev
	Last execution timestamp. More...
float	output_prev
	last pid output value More...

Detailed Description

PID controller class

Definition at line 11 of file pid.h.

Constructor & Destructor Documentation

PIDController()

PIDController::PIDController	(	float	P,
		float	I,
		float	D,
		float	ramp,
		float	limit
	)

Parameters

P	- Proportional gain
I	- Integral gain
D	- Derivative gain
ramp	- Maximum speed of change of the output value
limit	- Maximum output value

Definition at line 3 of file pid.cpp.

~PIDController()

PIDController::~PIDController ( )

default

Member Function Documentation

operator()()

float PIDController::operator()

(

float

error

)

Definition at line 17 of file pid.cpp.

Member Data Documentation

D

float PIDController::D

Derivative gain.

Definition at line 29 of file pid.h.

error_prev

float PIDController::error_prev

protected

last tracking error value

Definition at line 35 of file pid.h.

I

float PIDController::I

Integral gain.

Definition at line 28 of file pid.h.

integral_prev

float PIDController::integral_prev

protected

last integral component value

Definition at line 34 of file pid.h.

limit

float PIDController::limit

Maximum output value.

Definition at line 31 of file pid.h.

output_prev

float PIDController::output_prev

protected

last pid output value

Definition at line 37 of file pid.h.

output_ramp

float PIDController::output_ramp

Maximum speed of change of the output value.

Definition at line 30 of file pid.h.

P

float PIDController::P

Proportional gain.

Definition at line 27 of file pid.h.

timestamp_prev

unsigned long PIDController::timestamp_prev

protected

Last execution timestamp.

Definition at line 36 of file pid.h.

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

• pid.h
• pid.cpp