Struct Pid::Gains

• Defined in File pid.hpp

Nested Relationships

This struct is a nested type of Class Pid.

Struct Documentation

struct Gains

Store gains in a struct to allow easier realtime buffer usage.

Public Functions

inline Gains(double p, double i, double d, double i_max, double i_min)

inline Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup)

inline Gains()

Public Members

double p_gain_

Proportional gain.

double i_gain_

Integral gain.

double d_gain_

Derivative gain.

double i_max_

Maximum allowable integral term.

double i_min_

Minimum allowable integral term.

bool antiwindup_

Antiwindup.