PID< T, U > Class Template Reference

Inheritance diagram for PID< T, U >:

Public Types
using	kPType = units::Divided<U, T>
using	kIType = units::Multiplied<kPType, units::Time>
using	kDType = units::Divided<kPType, units::Time>

Public Member Functions
	PID (kPType kP, kIType kI, kDType kD, T deadband, units::Time on_target_time)
	PID controller object constructor.
void	reset () override
	Resets the internal state of the PID controller.
U	update (const double &state, const double &reference, const units::Time &dt=10_ms) override
	Updates the control loop output.
bool	get_on_target ()
	Gets the on target state of the PID controller.
Public Member Functions inherited from Feedback< T, U >
virtual U	update (const T &state, const T &reference, const units::Time &dt)=0
	Updates the control loop output.
U	get_output ()
	Gets the last saved output value.
U	get_last_error ()
	Gets the last saved error.
T	get_reference ()
	Gets the currently stored reference state.
T	get_state ()
	Gets the currently stored state.

Public Attributes
kPType	kP_
kIType	kI_
kDType	kD_
T	deadband_
units::Time	on_target_time_
Public Attributes inherited from Feedback< T, U >
U	output_min_
U	output_max_

Additional Inherited Members
Protected Attributes inherited from Feedback< T, U >
T	reference_
T	state_
T	last_error_
U	output_

Constructor & Destructor Documentation

PID()

template<typename T, typename U>

PID< T, U >::PID ( kPType kP, kIType kI, kDType kD, T deadband, units::Time on_target_time )

inline

PID controller object constructor.

Parameters

kP	the proportional constant for the controller
kI	the integral constant for the controller
kD	the derivative constant for the controller
deadband	the deadband where the loop decides it is on target
on_target_time	the time where the loops decides it is on target

Member Function Documentation

reset()

template<typename T, typename U>

void PID< T, U >::reset ( )

inlineoverridevirtual

Resets the internal state of the PID controller.

Implements Feedback< T, U >.

update()

template<typename T, typename U>

U PID< T, U >::update ( const double & state, const double & reference, const units::Time & dt = 10_ms )

inlineoverride

Updates the control loop output.

Parameters

state	the current state the PID controller is at
reference	the target state for the PID controller
dt	the timestep since the last time this method was called

Returns

the controller output

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

• core/math/controls/pid.h