Class SmoothPid

Inheritance Relationships

Derived Type

Class Documentation

class SmoothPid

Subclassed by tap::algorithms::FuzzyPD

Public Functions

SmoothPid(const SmoothPidConfig &pidConfig)
virtual float runController(float error, float errorDerivative, float dt)

Runs the PID controller. Should be called frequently for best results.

Parameters:

  • error – [in] The error (in user-defined units) between some target and measured value.

  • errorDerivative – [in] The derivative of the error passed in above (in user-defined units / time).

  • dt – [in] The difference in time between the time this function is being called and the last time this function was called.

float runControllerDerivateError(float error, float dt)
float getOutput()
void reset()
inline void setP(float p)
inline void setI(float i)
inline void setD(float d)
inline void setMaxICumulative(float maxICumulative)
inline void setMaxOutput(float maxOutput)
inline void setErrDeadzone(float errDeadzone)