Namespaces | Functions | Variables
autotune.cpp File Reference

Autotune a PID controller with the Ziegler Nichols method. More...

#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <string>
#include <math.h>
#include <dynamic_reconfigure/DoubleParameter.h>
#include <dynamic_reconfigure/Reconfigure.h>
#include <dynamic_reconfigure/Config.h>
Include dependency graph for autotune.cpp:

Go to the source code of this file.

Namespaces

namespace  autotune

Functions

int main (int argc, char **argv)
std::vector< double > autotune::oscillationTimes (3)
void setFinalParams ()
void setKiKdToZero ()
void setKp (double Kp)
void setpoint_callback (const std_msgs::Float64 &setpoint_msg)
void state_callback (const std_msgs::Float64 &state_msg)

Variables

bool autotune::foundKu = false
int autotune::initialError = 0
double autotune::Kd_ZN = 0.
double autotune::Ki_ZN = 0.
double autotune::Kp_ZN = 0.
double autotune::Ku = 0.
std::string autotune::nameSpc = "/left_wheel_pid/"
int autotune::numLoops = 100
int autotune::oscillationCount = 0
double autotune::setpoint = 0.
double autotune::state = 0.
double autotune::Tu = 0.

Detailed Description

Autotune a PID controller with the Ziegler Nichols method.

Author:
Andy Zelenak
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:

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 76 of file autotune.cpp.

void setFinalParams ( )

Definition at line 218 of file autotune.cpp.

void setKiKdToZero ( )

Definition at line 172 of file autotune.cpp.

void setKp ( double  Kp)

Definition at line 189 of file autotune.cpp.

void setpoint_callback ( const std_msgs::Float64 &  setpoint_msg)

Definition at line 206 of file autotune.cpp.

void state_callback ( const std_msgs::Float64 &  state_msg)

Definition at line 211 of file autotune.cpp.



pid
Author(s): Andy Zelenak , Paul Bouchier
autogenerated on Tue May 2 2017 02:49:51