mvsim::PID_Controller Struct Reference

#include <PID_Controller.h>

Public Member Functions
double	compute (double err, double dt)
	PID_Controller ()=default
void	reset ()

Public Attributes
double	KD = 0
double	KI = 0
double	KP = 1.0
double	max_out = 0
	For clamping (0=no clamp) More...

Private Attributes
double	e_n = 0
double	e_n_1 = 0
double	e_n_2 = 0
double	lastOutput = 0

Detailed Description

Definition at line 13 of file PID_Controller.h.

Constructor & Destructor Documentation

PID_Controller()

mvsim::PID_Controller::PID_Controller ( )

default

Member Function Documentation

compute()

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

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

Definition at line 15 of file PID_Controller.cpp.

reset()

void PID_Controller::reset

(

)

Reset internal status to all zeros (KP, KI,DP, max_out remain unmodified)

Definition at line 41 of file PID_Controller.cpp.

Member Data Documentation

e_n

double mvsim::PID_Controller::e_n = 0

private

Definition at line 29 of file PID_Controller.h.

e_n_1

double mvsim::PID_Controller::e_n_1 = 0

private

Definition at line 29 of file PID_Controller.h.

e_n_2

double mvsim::PID_Controller::e_n_2 = 0

private

Definition at line 29 of file PID_Controller.h.

KD

double mvsim::PID_Controller::KD = 0

Definition at line 17 of file PID_Controller.h.

KI

double mvsim::PID_Controller::KI = 0

Definition at line 17 of file PID_Controller.h.

KP

double mvsim::PID_Controller::KP = 1.0

Definition at line 17 of file PID_Controller.h.

lastOutput

double mvsim::PID_Controller::lastOutput = 0

private

Definition at line 28 of file PID_Controller.h.

max_out

double mvsim::PID_Controller::max_out = 0

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