bitrl::control::PIDController Class Reference

PID controller implementation. More...

#include <pid_controller.h>

Public Types
typedef real_t	ctrl_signal_type

Public Member Functions
	PIDController (real_t Kp, real_t Ki, real_t Kd)
real_t	get_kp () const noexcept
real_t	get_ki () const noexcept
real_t	get_kd () const noexcept
bool	is_limited () const noexcept
void	set_control_limits (std::pair< real_t, real_t > limits)
ctrl_signal_type	compute_ctrl_signal (real_t current, real_t target, real_t dt)

Detailed Description

PID controller implementation.

Member Typedef Documentation

ctrl_signal_type

typedef real_t bitrl::control::PIDController::ctrl_signal_type

Constructor & Destructor Documentation

PIDController()

bitrl::control::PIDController::PIDController ( real_t  Kp, real_t  Ki, real_t  Kd  )

inline

Constructor

Parameters

Kp
Ki
Kd

Member Function Documentation

compute_ctrl_signal()

real_t bitrl::control::PIDController::compute_ctrl_signal	(	real_t	current,
		real_t	target,
		real_t	dt
	)

Compute the control signal to return

Parameters

current
target
dt

Returns

get_kd()

real_t bitrl::control::PIDController::get_kd ( ) const

inlinenoexcept

get_ki()

real_t bitrl::control::PIDController::get_ki ( ) const

inlinenoexcept

get_kp()

real_t bitrl::control::PIDController::get_kp ( ) const

inlinenoexcept

is_limited()

bool bitrl::control::PIDController::is_limited ( ) const

inlinenoexcept

Test the is_limited_ flag

Returns

True is the set_control_limits has been called

set_control_limits()

void bitrl::control::PIDController::set_control_limits ( std::pair< real_t, real_t >  limits )

inline

Set the min/max threshold for the action

Parameters

limits

---

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

• libs/bitrl/src/bitrl/control/pid_controller.h
• libs/bitrl/src/bitrl/control/pid_controller.cpp