pid_controller::VelocityP_PID Class Reference

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

#include <p_pid.hpp>

Public Member Functions
	VelocityP_PID (const VelocityP_PIDParameter &param_)
	Controller gain setting.
double	update (double current_slave, double current_master, double target_master)
	Update PID cycle.
void	reset ()
	Reset previous slave output.
void	set_param_offset (double offset)
	Set offset parameter.
double	get_master_out ()
	Get calculated master output.
std::array< double, 3 >	get_slave_each_term ()
	Get slave each term.
double	get_dt ()
	Get dt.

Detailed Description

Velocity Form P-PID Controller class.

Constructor & Destructor Documentation

VelocityP_PID()

pid_controller::VelocityP_PID::VelocityP_PID ( const VelocityP_PIDParameter &  param_ )

explicit

Controller gain setting.

Parameters

param

Hyperparameter for velocity p-pid

Member Function Documentation

get_dt()

double pid_controller::VelocityP_PID::get_dt

(

)

Get dt.

Returns

dt

get_master_out()

double pid_controller::VelocityP_PID::get_master_out

(

)

Get calculated master output.

Returns

master ouput

get_slave_each_term()

std::array< double, 3 > pid_controller::VelocityP_PID::get_slave_each_term

(

)

Get slave each term.

Returns

slave each term

reset()

void pid_controller::VelocityP_PID::reset

(

)

Reset previous slave output.

Returns

none

set_param_offset()

void pid_controller::VelocityP_PID::set_param_offset

(

double

offset

)

Set offset parameter.

Parameters

offset

offset

update()

double pid_controller::VelocityP_PID::update	(	double	current_slave,
		double	current_master,
		double	target_master
	)

Update PID cycle.

Parameters

current_slave	Slave process value
current_master	master process value
target_master	Setting value

Returns

Manipulated value

Calculate PID

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

• src/common/pid_controller/include/pid_controller/p_pid.hpp
• src/common/pid_controller/src/p_pid.cpp