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

#include <modded_pid.hpp>

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

Collaboration diagram for trap::algorithms::ModdedPid< ErrorType, ControlType, TimeUnit >:

Public Types
using	IModder = IPidModder< ControlType >
using	BasePid = SmoothPid< ErrorType, ControlType, TimeUnit >
using	Config = BasePid::Config
Public Types inherited from trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >
using	Config = tap::algorithms::SmoothPidConfig

Public Member Functions
	ModdedPid (const Config &config, std::unique_ptr< IModder > modder=std::make_unique< NullPidModder< ControlType > >(), ErrorType initialLastError=ErrorType{0.0})
ControlType	runController (ErrorType error)
ControlType	runController (const ErrorType &error, const TimeUnit &deltaTime)
Public Member Functions inherited from trap::algorithms::SmoothPid< ErrorType, ControlType, TimeUnit >
	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::ModdedPid< ErrorType, ControlType, TimeUnit >

This will require the use of units::lenth::meters instead of units::length::meter_t This allows different feedfoward "modders" to change the pid output in a bundle

Member Typedef Documentation

BasePid

template<typename ErrorType , typename ControlType , typename TimeUnit >

using trap::algorithms::ModdedPid< ErrorType, ControlType, TimeUnit >::BasePid = SmoothPid<ErrorType, ControlType, TimeUnit>

Config

template<typename ErrorType , typename ControlType , typename TimeUnit >

using trap::algorithms::ModdedPid< ErrorType, ControlType, TimeUnit >::Config = BasePid::Config

IModder

template<typename ErrorType , typename ControlType , typename TimeUnit >

using trap::algorithms::ModdedPid< ErrorType, ControlType, TimeUnit >::IModder = IPidModder<ControlType>

Constructor & Destructor Documentation

ModdedPid()

template<typename ErrorType , typename ControlType , typename TimeUnit >

trap::algorithms::ModdedPid< ErrorType, ControlType, TimeUnit >::ModdedPid ( const Config &  config, std::unique_ptr< IModder >  modder = std::make_unique<NullPidModder<ControlType>>(), ErrorType  initialLastError = ErrorType{0.0}  )

inline

Member Function Documentation

runController() [1/2]

template<typename ErrorType , typename ControlType , typename TimeUnit >

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

inline

Manual delta time but with automatic derivative calculation

runController() [2/2]

template<typename ErrorType , typename ControlType , typename TimeUnit >

ControlType trap::algorithms::ModdedPid< 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

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

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