mvsim::PID_Controller Struct Reference

#include <PID_Controller.h>

Public Member Functions
double	compute (double err, double dt)
	PID_Controller ()

Public Attributes
double	KD
double	KI
double	KP
double	max_out
	For clamping (0=no clamp) More...

Private Attributes
double	e_n
double	e_n_1
double	e_n_2
double	lastOutput

Detailed Description

Definition at line 13 of file PID_Controller.h.

Constructor & Destructor Documentation

PID_Controller::PID_Controller

(

)

Definition at line 14 of file PID_Controller.cpp.

Member Function Documentation

double PID_Controller::compute	(	double	err,
		double	dt
	)

err = desired-actual, dt=ellapsed time in secs

Definition at line 27 of file PID_Controller.cpp.

Member Data Documentation

double mvsim::PID_Controller::e_n

private

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::e_n_1

private

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::e_n_2

private

Definition at line 25 of file PID_Controller.h.

double mvsim::PID_Controller::KD

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::KI

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::KP

Definition at line 17 of file PID_Controller.h.

double mvsim::PID_Controller::lastOutput

private

Definition at line 24 of file PID_Controller.h.

double mvsim::PID_Controller::max_out

For clamping (0=no clamp)

Definition at line 18 of file PID_Controller.h.

---

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

• PID_Controller.h
• PID_Controller.cpp