Public Member Functions | Public Attributes | Private Attributes | List of all members
mvsim::PID_Controller Struct Reference

#include <PID_Controller.h>

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) More...
 

Private Attributes

double e_n
 
double e_n_1
 
double e_n_2
 
double lastOutput
 

Detailed Description

Definition at line 13 of file PID_Controller.h.

Constructor & Destructor Documentation

PID_Controller::PID_Controller ( )

Definition at line 14 of file PID_Controller.cpp.

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.

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.


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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 19:36:41