PIDController Class Reference

#include <pid.h>

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

Public Attributes
float	P
	Proportional gain.
float	I
	Integral gain.
float	D
	Derivative gain.
float	output_ramp
	Maximum speed of change of the output value.
float	limit
	Maximum output value.
float	Ts
	Fixed sampling time (optional default NOT_SET)

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

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 = NOT_SET,
		float	limit = NOT_SET,
		float	sampling_time = NOT_SET
	)

Parameters

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

Note

If sampling time is not set the filter will measure the elapsed time between each call. If yes it will consider it fixed.

Sampling time can be changed dynamically as well by modifying the variable Ts in runtime.

Definition at line 3 of file pid.cpp.

Here is the call graph for this function:

~PIDController()

PIDController::~PIDController ( )

default

Member Function Documentation

operator()()

float PIDController::operator()

(

float

error

)

Definition at line 18 of file pid.cpp.

Here is the call graph for this function:

reset()

void PIDController::reset

(

)

Definition at line 66 of file pid.cpp.

Here is the caller graph for this function:

Member Data Documentation

D

float PIDController::D

Derivative gain.

Definition at line 36 of file pid.h.

error_prev

float PIDController::error_prev

protected

last tracking error value

Definition at line 42 of file pid.h.

I

float PIDController::I

Integral gain.

Definition at line 35 of file pid.h.

integral_prev

float PIDController::integral_prev

protected

last integral component value

Definition at line 44 of file pid.h.

limit

float PIDController::limit

Maximum output value.

Definition at line 38 of file pid.h.

output_prev

float PIDController::output_prev

protected

last pid output value

Definition at line 43 of file pid.h.

output_ramp

float PIDController::output_ramp

Maximum speed of change of the output value.

Definition at line 37 of file pid.h.

P

float PIDController::P

Proportional gain.

Definition at line 34 of file pid.h.

timestamp_prev

unsigned long PIDController::timestamp_prev

protected

Last execution timestamp.

Definition at line 45 of file pid.h.

Ts

float PIDController::Ts

Fixed sampling time (optional default NOT_SET)

Definition at line 39 of file pid.h.

---

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

• pid.h
• pid.cpp