Autotune a PID controller with the Ziegler Nichols method. More...
#include <math.h>#include <ros/ros.h>#include <std_msgs/Float64.h>#include <string>#include <dynamic_reconfigure/Config.h>#include <dynamic_reconfigure/DoubleParameter.h>#include <dynamic_reconfigure/Reconfigure.h>
Go to the source code of this file.
Namespaces | |
| autotune | |
Functions | |
| int | main (int argc, char **argv) |
| std::vector< double > | autotune::oscillation_times (3) |
| void | setFinalParams () |
| void | setKiKdToZero () |
| void | setKp (double Kp) |
| void | setpointCallback (const std_msgs::Float64 &setpoint_msg) |
| void | stateCallback (const std_msgs::Float64 &state_msg) |
Variables | |
| bool | autotune::found_Ku = false |
| int | autotune::initial_error = 0 |
| double | autotune::Kd_ZN = 0. |
| double | autotune::Ki_ZN = 0. |
| double | autotune::Kp_ZN = 0. |
| double | autotune::Ku = 0. |
| std::string | autotune::ns = "/left_wheel_pid/" |
| int | autotune::num_loops = 100 |
| int | autotune::oscillation_count = 0 |
| double | autotune::setpoint = 0. |
| double | autotune::state = 0. |
| double | autotune::Tu = 0. |
Detailed Description
Autotune a PID controller with the Ziegler Nichols method.
- Date
- October 25, 2016
License (BSD-3)
Copyright (c) 2016, Andy Zelenak
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
- Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Definition in file autotune.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 77 of file autotune.cpp.
| void setFinalParams | ( | ) |
Definition at line 223 of file autotune.cpp.
| void setKiKdToZero | ( | ) |
Definition at line 178 of file autotune.cpp.
| void setKp | ( | double | Kp | ) |
Definition at line 195 of file autotune.cpp.
| void setpointCallback | ( | const std_msgs::Float64 & | setpoint_msg | ) |
Definition at line 212 of file autotune.cpp.
| void stateCallback | ( | const std_msgs::Float64 & | state_msg | ) |
Definition at line 217 of file autotune.cpp.