tap::algorithms::SmoothPidConfig Struct Reference

#include <smooth_pid.hpp>

Public Attributes
float	kp = 0.0f
float	ki = 0.0f
float	kd = 0.0f
float	maxICumulative = 0.0f
float	maxOutput = 0.0f
float	tQDerivativeKalman = 1.0f
float	tRDerivativeKalman = 0.0f
float	tQProportionalKalman = 1.0f
float	tRProportionalKalman = 0.0f
float	errDeadzone = 0.0f
float	errorDerivativeFloor = 0.0f

Member Data Documentation

errDeadzone

float tap::algorithms::SmoothPidConfig::errDeadzone = 0.0f

Within [-errDeadzone, errDeadzone], the PID controller error will be set to 0.

errorDerivativeFloor

float tap::algorithms::SmoothPidConfig::errorDerivativeFloor = 0.0f

Minimum error value at which the PID controller will compute and apply the derivative term.

kd

float tap::algorithms::SmoothPidConfig::kd = 0.0f

ki

float tap::algorithms::SmoothPidConfig::ki = 0.0f

kp

float tap::algorithms::SmoothPidConfig::kp = 0.0f

maxICumulative

float tap::algorithms::SmoothPidConfig::maxICumulative = 0.0f

maxOutput

float tap::algorithms::SmoothPidConfig::maxOutput = 0.0f

tQDerivativeKalman

float tap::algorithms::SmoothPidConfig::tQDerivativeKalman = 1.0f

The system noise covariance for the kalman filter that is applied to the derivative of the error.

tQProportionalKalman

float tap::algorithms::SmoothPidConfig::tQProportionalKalman = 1.0f

The system noise covariance for the kalman filter that is applied to the proportional error.

tRDerivativeKalman

float tap::algorithms::SmoothPidConfig::tRDerivativeKalman = 0.0f

The measurement noise covariance for the kalman filter that is applied to the derivative of the error.

tRProportionalKalman

float tap::algorithms::SmoothPidConfig::tRProportionalKalman = 0.0f

The measurement noise covariance for the kalman filter that is applied to the proportional error.

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

• fang-mcb-project/taproot/src/tap/algorithms/smooth_pid.hpp