trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit > Class Template Reference

#include <smooth_pid.hpp>

Inheritance diagram for trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >:

Public Types
using	Config = tap::algorithms::SmoothPidConfig

Public Member Functions
	SmoothPid (const Config &config, ErrorType initialLastError=ErrorType{0.0})
ControlType	runController (ErrorType error)
ControlType	runController (const ErrorType &error, const TimeUnit &deltaTime)
ControlType	runController (ErrorType error, double errorDerivative, TimeUnit deltaTime)

Detailed Description

template<typename ErrorType, typename ControlType, typename TimeUnit>
class trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >

This will require the use of units::lenth::meters instead of units::length::meter_t The control unit is the unit that is used to change the system The error unit is the unit that the system takes as an input The time unit is unit for the passage of time

Member Typedef Documentation

Config

template<typename ErrorType , typename ControlType , typename TimeUnit >

using trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >::Config = tap::algorithms::SmoothPidConfig

Constructor & Destructor Documentation

SmoothPid()

template<typename ErrorType , typename ControlType , typename TimeUnit >

trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >::SmoothPid ( const Config &  config, ErrorType  initialLastError = ErrorType{0.0}  )

inline

Member Function Documentation

runController() [1/3]

template<typename ErrorType , typename ControlType , typename TimeUnit >

ControlType trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >::runController ( const ErrorType &  error, const TimeUnit &  deltaTime  )

inline

Manual delta time but with automatic derivative calculation

runController() [2/3]

template<typename ErrorType , typename ControlType , typename TimeUnit >

ControlType trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >::runController ( ErrorType  error )

inline

error - how much error This wrapper automatically calculates how much the error has changed and the amount of time which has passed between calls

runController() [3/3]

template<typename ErrorType , typename ControlType , typename TimeUnit >

ControlType trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >::runController ( ErrorType  error, double  errorDerivative, TimeUnit  deltaTime  )

inline

Manually include delta time (this is for testing purposes but may bear use to future testers) For implementation purposes, the errorDerivative is stripped of any unit

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

• fang-mcb-project/src/wrap/trap/algorithms/smooth_pid.hpp