PIDController Class Reference

#include <pidcontroller.h>

List of all members.

Public Member Functions
	PIDController (std::string name, float Kp, float Ki, float Kd, float period, float outputlowerlimit, float outputupperlimit)
	~PIDController ()
float	doControl (float input)
void	setTarget (float target)
void	clearState ()

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Constructor & Destructor Documentation

PIDController::PIDController	(	std::string	mname,
		float	mKp,
		float	mKi,
		float	mKd,
		float	mperiod,
		float	moutputlowerlimit,
		float	moutputupperlimit
	)

PID Controller:

Author:

Jason Kulk

NUbots (c) 2008 All Rights Reserved

Create a generic PID Controller

Parameters:

	mname	the name of the PID controller (this is used to idenitify it)
	mKp	the proportional gain
	mKi	the integra gain
	mKd	the derivative gain
	mperiod	the control loop period
	moutputlowerlimit	the actuator lower limit
	moutputupperlimit	the actuator upper limit

PIDController::~PIDController

(

)

Destroys the PID controller

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Member Function Documentation

void PIDController::clearState

(

)

Clear the controller's state.

This will reset the integral and derivative terms, as well as reset any historical values. Use this just prior to turning the motor back on, or when turning the motor off

float PIDController::doControl

(

float

input

)

The controller function; call this inside the control loop.

Parameters:

input

the measured value

Returns:

the calculated control output

void PIDController::setTarget

(

float

mtarget

)

Set the controller's set point

Parameters:

mtarget

the target current (A)

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

• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/pidcontroller.h
• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/pidcontroller.cpp