mvsim::PID_Controller Struct Reference

#include <PID_Controller.h>

List of all members.

Public Member Functions
double	compute (double err, double dt)
	PID_Controller ()
Public Attributes
double	KD
double	KI
double	KP
double	max_out
	For clamping (0=no clamp)
Private Attributes
double	e_n
double	e_n_1
double	e_n_2
double	lastOutput

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Detailed Description

Definition at line 13 of file PID_Controller.h.

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Constructor & Destructor Documentation

PID_Controller::PID_Controller

(

)

Definition at line 14 of file PID_Controller.cpp.

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Member Function Documentation

double PID_Controller::compute	(	double	err,
		double	dt
	)

err = desired-actual, dt=ellapsed time in secs

Definition at line 27 of file PID_Controller.cpp.

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Member Data Documentation

double mvsim::PID_Controller::e_n [private]

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::e_n_1 [private]

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::e_n_2 [private]

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::KD

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::KI

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::KP

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::lastOutput [private]

Definition at line 24 of file PID_Controller.h.

double mvsim::PID_Controller::max_out

For clamping (0=no clamp)

Definition at line 18 of file PID_Controller.h.

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

• PID_Controller.h
• PID_Controller.cpp