#include <speed.h>

Inheritance diagram for SpeedControlPID:

Public Member Functions
virtual void	adjust (float speed, float error, float brake_req, float throttle_req)
virtual void	configure (art_pilot::PilotConfig &newconfig)
virtual void	reset (void)
	SpeedControlPID ()
virtual	~SpeedControlPID ()
Private Attributes
boost::shared_ptr< Pid >	brake_pid_
bool	braking_
boost::shared_ptr< Pid >	throttle_pid_

Detailed Description

PID speed controller class

Definition at line 98 of file speed.h.

Constructor & Destructor Documentation

SpeedControlPID::SpeedControlPID ( )

PID speed control constructor.

Allocate brake and throttle PID classes with default parameters, then configure control constants.

Throttle gains came from Jesse Tannahill's pilot prototype. Brake gains selected by experiment.

Definition at line 186 of file speed.cc.

SpeedControlPID::~SpeedControlPID ( ) [virtual]

PID speed control destructor.

Definition at line 196 of file speed.cc.

void SpeedControlPID::adjust	(	float	speed,
		float	error,
		float *	brake_req,
		float *	throttle_req
	)		`[virtual]`

Adjust speed to match goal.

Generate brake and throttle changes directly from separate PID controllers. Uses a state machine to avoid applying simultaneous brake and throttle.

Parameters:

speed	absolute value of current velocity in m/sec
error	immediate goal minus speed
brake_req	-> previous brake request (input), updated brake request (output).
throttle_req	-> previous throttle request (input), updated throttle request (output).

Definition at line 212 of file speed.cc.

void SpeedControlPID::configure ( art_pilot::PilotConfig & newconfig ) [virtual]

Configure controller parameters.

Definition at line 266 of file speed.cc.

void SpeedControlPID::reset ( void ) [virtual]

Reset speed controller.

Definition at line 277 of file speed.cc.