PID Class Reference

#include <PID.h>

Classes
struct	config

Public Member Functions
	PID ()
	PID (float kP, float kI, float kD, float integralCap=0, float outputCap=0)
	PID (config cfg)
void	setPID (float p, float i, float d, float integralCap=0, float outputCap=0)
void	resetPID (float kP, float kI, float kD, float integralCap=0, float outputCap=0)
void	resetErrorIntegral ()
int	calculate (int desired, int current, double dt)
int	calculatePeriodic (float error, double dt)
void	limitOutput (double &PIDCalc) const
double	limitErrorDerivative (double dTerm)
void	limitErrorIntegral ()
void	setDerivativeCap (float derivativeCap)
void	setIntegralCap (float integralCap)
void	setOutputCap (float outCap)

Public Attributes
float	feedForward = 0
float	pC
float	iC
float	dC = 0
lastfew	dBuffer

Detailed Description

The PID class is used to implement PID (proportional, integral, derivative) control of a motor. It is used by almost every motor on the robot, and supports both position and velocity control.

Constructor & Destructor Documentation

PID() [1/3]

PID::PID

(

)

Creates a new PID object with the default control parameters

PID() [2/3]

PID::PID	(	float	kP,
		float	kI,
		float	kD,
		float	integralCap = 0,
		float	outputCap = 0
	)

Creates a new PID object with the given control parameters

Parameters

kP	The P (proportional) parameter
kI	The I (integral) parameter
kD	The D (derivative) parameter
integralCAp	The maximum integral that can be achieved, above which the integral will be capped
outputCap	The maximum output of the PID, above which the output will be capped

PID() [3/3]

PID::PID

(

PID::config

cfg

)

Member Function Documentation

calculate()

int PID::calculate	(	int	desired,
		int	current,
		double	dt
	)

Calculates an output power based on the current and desired measurement (speed/position)

Parameters

desired	The desired speed/position
current	The current speed/position
dt	The time that has passed since the last calculation, in milliseconds

Returns

The output control power

calculatePeriodic()

int PID::calculatePeriodic	(	float	error,
		double	dt
	)

limitErrorDerivative()

double PID::limitErrorDerivative

(

double

dTerm

)

limitErrorIntegral()

void PID::limitErrorIntegral

(

)

limitOutput()

void PID::limitOutput

(

double &

PIDCalc

)

const

resetErrorIntegral()

void PID::resetErrorIntegral

(

)

resetPID()

void PID::resetPID	(	float	kP,
		float	kI,
		float	kD,
		float	integralCap = 0,
		float	outputCap = 0
	)

setDerivativeCap()

void PID::setDerivativeCap

(

float

derivativeCap

)

Sets the integral cap

Parameters

derivativeCap

The new integral cap

setIntegralCap()

void PID::setIntegralCap

(

float

integralCap

)

Sets the integral cap

Parameters

integralCap

The new integral cap

setOutputCap()

void PID::setOutputCap

(

float

outCap

)

Sets the output cap

Parameters

outCap

The new output cap

setPID()

void PID::setPID	(	float	p,
		float	i,
		float	d,
		float	integralCap = 0,
		float	outputCap = 0
	)

Sets the P, I, and D control parameters

Parameters

p	The new P (proportional) parameter
i	The new I (integral) parameter
d	The new D (derivative) parameter

Member Data Documentation

dBuffer

lastfew PID::dBuffer

dC

float PID::dC = 0

feedForward

float PID::feedForward = 0

iC

float PID::iC

pC

float PID::pC

---

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

• core/util/algorithms/PID.h
• core/util/algorithms/PID.cpp