diffbot::PID Class Reference

#include <pid.h>

Public Member Functions
double	compute (float setpoint, float measured_value)
double	derivative ()
double	integral ()
	PID (float min_val, float max_val, float kp, float ki, float kd)
double	prev_error ()
double	proportional ()
void	updateConstants (float kp, float ki, float kd)

Private Attributes
double	derivative_
double	integral_
float	kd_
float	ki_
float	kp_
float	max_val_
float	min_val_
double	prev_error_
double	proportional_

Detailed Description

Definition at line 6 of file scripts/base_controller/lib/pid/pid.h.

Constructor & Destructor Documentation

PID()

diffbot::PID::PID	(	float	min_val,
		float	max_val,
		float	kp,
		float	ki,
		float	kd
	)

Definition at line 4 of file scripts/base_controller/lib/pid/pid.cpp.

Member Function Documentation

compute()

double diffbot::PID::compute	(	float	setpoint,
		float	measured_value
	)

Definition at line 13 of file scripts/base_controller/lib/pid/pid.cpp.

derivative()

double diffbot::PID::derivative ( )

inline

Definition at line 15 of file scripts/base_controller/lib/pid/pid.h.

integral()

double diffbot::PID::integral ( )

inline

Definition at line 14 of file scripts/base_controller/lib/pid/pid.h.

prev_error()

double diffbot::PID::prev_error ( )

inline

Definition at line 16 of file scripts/base_controller/lib/pid/pid.h.

proportional()

double diffbot::PID::proportional ( )

inline

Definition at line 13 of file scripts/base_controller/lib/pid/pid.h.

updateConstants()

void diffbot::PID::updateConstants	(	float	kp,
		float	ki,
		float	kd
	)

Definition at line 35 of file scripts/base_controller/lib/pid/pid.cpp.

Member Data Documentation

derivative_

double diffbot::PID::derivative_

private

Definition at line 26 of file scripts/base_controller/lib/pid/pid.h.

integral_

double diffbot::PID::integral_

private

Definition at line 25 of file scripts/base_controller/lib/pid/pid.h.

kd_

float diffbot::PID::kd_

private

Definition at line 23 of file scripts/base_controller/lib/pid/pid.h.

ki_

float diffbot::PID::ki_

private

Definition at line 22 of file scripts/base_controller/lib/pid/pid.h.

kp_

float diffbot::PID::kp_

private

Definition at line 21 of file scripts/base_controller/lib/pid/pid.h.

max_val_

float diffbot::PID::max_val_

private

Definition at line 20 of file scripts/base_controller/lib/pid/pid.h.

min_val_

float diffbot::PID::min_val_

private

Definition at line 16 of file scripts/base_controller/lib/pid/pid.h.

prev_error_

double diffbot::PID::prev_error_

private

Definition at line 27 of file scripts/base_controller/lib/pid/pid.h.

proportional_

double diffbot::PID::proportional_

private

Definition at line 24 of file scripts/base_controller/lib/pid/pid.h.

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

• scripts/base_controller/lib/pid/pid.h
• scripts/base_controller/lib/pid/pid.cpp