tap::algorithms::SmoothPid Class Reference

#include <smooth_pid.hpp>

Inheritance diagram for tap::algorithms::SmoothPid:

Public Member Functions
	SmoothPid (const SmoothPidConfig &pidConfig)
virtual float	runController (float error, float errorDerivative, float dt)
float	runControllerDerivateError (float error, float dt)
float	getOutput ()
void	reset ()
void	setP (float p)
void	setI (float i)
void	setD (float d)
void	setMaxICumulative (float maxICumulative)
void	setMaxOutput (float maxOutput)
void	setErrDeadzone (float errDeadzone)

Constructor & Destructor Documentation

SmoothPid()

tap::algorithms::SmoothPid::SmoothPid

(

const SmoothPidConfig &

pidConfig

)

Member Function Documentation

getOutput()

float tap::algorithms::SmoothPid::getOutput

(

)

reset()

void tap::algorithms::SmoothPid::reset

(

)

runController()

float tap::algorithms::SmoothPid::runController ( float  error, float  errorDerivative, float  dt  )

virtual

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

Parameters

[in]	error	The error (in user-defined units) between some target and measured value.
[in]	errorDerivative	The derivative of the error passed in above (in user-defined units / time).
[in]	dt	The difference in time between the time this function is being called and the last time this function was called.

Reimplemented in tap::algorithms::FuzzyPD.

runControllerDerivateError()

float tap::algorithms::SmoothPid::runControllerDerivateError	(	float	error,
		float	dt
	)

setD()

void tap::algorithms::SmoothPid::setD ( float  d )

inline

setErrDeadzone()

void tap::algorithms::SmoothPid::setErrDeadzone ( float  errDeadzone )

inline

setI()

void tap::algorithms::SmoothPid::setI ( float  i )

inline

setMaxICumulative()

void tap::algorithms::SmoothPid::setMaxICumulative ( float  maxICumulative )

inline

setMaxOutput()

void tap::algorithms::SmoothPid::setMaxOutput ( float  maxOutput )

inline

setP()

void tap::algorithms::SmoothPid::setP ( float  p )

inline

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

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