Position Form P-PID Controller class. More...

#include <p_pid.hpp>

Public Member Functions
	PositionP_PID (const PositionP_PIDParameter &param_)
	Controller gain setting.

double	update (double current_slave, double current_master, double target_master, double last_saturated)
	Update PID cycle.

double	get_master_out ()
	Get calculated master output.

void	set_param_offset (double offset)
	Set offset parameter.

void	reset ()
	Reset integral term.

Detailed Description

Position Form P-PID Controller class.

Constructor & Destructor Documentation

pid_controller::PositionP_PID::PositionP_PID ( const PositionP_PIDParameter & param_ )

explicit

Controller gain setting.

Parameters

param Hyperparameter for position p-pid

double pid_controller::PositionP_PID::get_master_out ( )

Get calculated master output.

void pid_controller::PositionP_PID::reset ( )

Reset integral term.

void pid_controller::PositionP_PID::set_param_offset ( double offset )

Set offset parameter.

Parameters

offset offset

double pid_controller::PositionP_PID::update	(	double	current_slave,
		double	current_master,
		double	target_master,
		double	last_saturated
	)

Update PID cycle.

Parameters

current_slave	Slave process value
current_master	Master process value
target_master	Setting value
last_saturated	Whether the last control input was saturated (for anti-windup)

Calculate PID

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