#include <gains.hpp>

Public Member Functions
FloatFieldType &	deadZone ()
	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...

const FloatFieldType &	deadZone () const
	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...

BoolFieldType &	dOnError ()
	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output. More...

const BoolFieldType &	dOnError () const
	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output. More...

FloatFieldType &	feedForward ()
	Feed forward term (this term is multiplied by the target and added to the output). More...

const FloatFieldType &	feedForward () const
	Feed forward term (this term is multiplied by the target and added to the output). More...

	Gains (MessageType internal, FloatEnumType kp_gain, BoolEnumType d_on_error_gain)

FloatFieldType &	iClamp ()
	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...

const FloatFieldType &	iClamp () const
	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...

FloatFieldType &	kD ()
	Derivative PID gain. More...

const FloatFieldType &	kD () const
	Derivative PID gain. More...

FloatFieldType &	kI ()
	Integral PID gain. More...

const FloatFieldType &	kI () const
	Integral PID gain. More...

FloatFieldType &	kP ()
	Proportional PID gain. More...

const FloatFieldType &	kP () const
	Proportional PID gain. More...

FloatFieldType &	maxOutput ()
	Output from the PID controller is limited to a maximum of this value. More...

const FloatFieldType &	maxOutput () const
	Output from the PID controller is limited to a maximum of this value. More...

FloatFieldType &	maxTarget ()
	Maximum allowed value for input to the PID controller. More...

const FloatFieldType &	maxTarget () const
	Maximum allowed value for input to the PID controller. More...

FloatFieldType &	minOutput ()
	Output from the PID controller is limited to a minimum of this value. More...

const FloatFieldType &	minOutput () const
	Output from the PID controller is limited to a minimum of this value. More...

FloatFieldType &	minTarget ()
	Minimum allowed value for input to the PID controller. More...

const FloatFieldType &	minTarget () const
	Minimum allowed value for input to the PID controller. More...

FloatFieldType &	outputLowpass ()
	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

const FloatFieldType &	outputLowpass () const
	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

FloatFieldType &	punch ()
	Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...

const FloatFieldType &	punch () const
	Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...

FloatFieldType &	targetLowpass ()
	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

const FloatFieldType &	targetLowpass () const
	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

Private Attributes
BoolFieldType	d_on_error_

FloatFieldType	dead_zone_

FloatFieldType	feed_forward_

FloatFieldType	i_clamp_

MessageType const	internal_

FloatFieldType	kd_

FloatFieldType	ki_

FloatFieldType	kp_

FloatFieldType	max_output_

FloatFieldType	max_target_

FloatFieldType	min_output_

FloatFieldType	min_target_

FloatFieldType	output_lowpass_

FloatFieldType	punch_

FloatFieldType	target_lowpass_