Class Pid

Class Documentation

class Pid

This class provides a simple PID controller implementation.

Public Functions

inline Pid(int kp, int kd, int ki, int ko, int output_min, int output_max)

Constructs a new PID object.

Parameters:

  • kp – Tuning proportional gain.

  • kd – Tuning derivative gain.

  • ki – Tuning integral gain.

  • ko – Tuning output gain.

  • output_min – Output minimum limit.

  • output_max – Output maximum limit.

void reset(int encoder_count)

Resets the PID controller.

Parameters:

encoder_count – Current encoder value.

bool enabled()

Returns if the PID controller is enabled or not.

void enable()

Enables the PID controller.

void disable()

Disables the PID controller.

void compute(int encoder_count, int &computed_output)

Computes a new output.

Parameters:

  • encoder_count – Current encoder value.

  • computed_output – Computed output value.

void set_setpoint(int setpoint)

Sets the setpoint.

Parameters:

setpoint – Desired setpoint value.

void set_tunings(int kp, int kd, int ki, int ko)

Sets the tuning gains.

Parameters:

  • kp – Tuning proportional gain.

  • kd – Tuning derivative gain.

  • ki – Tuning integral gain.

  • ko – Tuning output gain.