Public Member Functions | |
| def | __init__ |
| def | get_current_cmd |
| def | update |
| def | zero |
Public Attributes | |
| current_output | |
| d_error | |
| d_term | |
| i_error | |
| i_term | |
| Imax | |
| Imin | |
| KD | |
| KI | |
| KP | |
| p_error | |
| p_error_last | |
| p_term | |
Very simple PID controller class. Inspired by, and similar interface to, pid.cpp from pr2_controllers/control_toolbox
| def starmac_roslib::pid::PidController::__init__ | ( | self, | |
KP = 0, |
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KI = 0, |
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KD = 0, |
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Ilimit = 0 |
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| ) |
| def starmac_roslib::pid::PidController::update | ( | self, | |
| error, | |||
dt = 0.0, |
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error_dot = None |
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| ) |
| def starmac_roslib::pid::PidController::zero | ( | self | ) |