pid.hpp

Go to the documentation of this file.

 
#ifndef _PID_HPP
#define _PID_HPP
 
#include <array>
#include <chrono>
 
namespace pid_controller
{
 
struct PositionPIDParameter
{
  double kp;            
  double ki;            
  double kd;            
  double kf;            
  double offset = 0.0;  
};
 
class PositionPID
{
private:
  double kp, ki, kd, kf;
  double offset;
  double p, i, d;
 
  double pre_p = 0;
  double pre_i = 0;
  double pre_d = 0;
 
  bool first_run = true;
 
  std::chrono::high_resolution_clock::time_point pre_time =
    std::chrono::high_resolution_clock::now();
 
public:
  explicit PositionPID(const PositionPIDParameter param);
 
  void reset();
 
  std::array<double, 3> get_each_term();
 
  void set_offset(double offset);
 
  double update(double current, double target, double last_saturated);
};
 
struct VelocityPIDParameter
{
  double kp;            
  double ki;            
  double kd;            
  double kf;            
  double lo;            
  double hi;            
  double offset = 0.0;  
};
 
class VelocityPID
{
private:
  double kp, ki, kd, kf;
  double lo, hi;
  double offset;
  double p, i, d;
 
  double pre_error = 0;
  double pre_p = 0;
  double pre_d = 0;
  double pre_u = 0;
  double dt = 0.0;
 
  bool first_run = true;
 
  std::chrono::high_resolution_clock::time_point pre_time =
    std::chrono::high_resolution_clock::now();
 
public:
  explicit VelocityPID(const VelocityPIDParameter param);
 
  std::array<double, 3> get_each_term();
 
  double get_dt() const;
 
  double update(double current, double target);
 
  void set_offset(double offset);
 
  void reset();
};
 
}  // namespace pid_controller
 
#endif