DUNE::Control::DiscretePID Class Reference

Public Member Functions
	DiscretePID (void)
	~DiscretePID (void)
void	setGains (const std::vector< float > &gains)
void	setOutputLimits (float lower, float upper)
void	setIntegralLimits (float value)
void	enableParcels (Tasks::Task *t, IMC::ControlParcel *p)
float	step (double timestep, float error)
float	step (double timestep, float error, float err_derivative)
void	reset (void)

Constructor & Destructor Documentation

DUNE::Control::DiscretePID::DiscretePID

(

void

)

Constructor.

References reset().

DUNE::Control::DiscretePID::~DiscretePID

(

void

)

Destructor.

Member Function Documentation

void DUNE::Control::DiscretePID::enableParcels	(	Tasks::Task *	t,
		IMC::ControlParcel *	p
	)

Enable debug using control parcels logged using bus dispatch.

Parameters

[in]	t	pointer to a task object
[in]	p	pointer to control parcel message

void DUNE::Control::DiscretePID::reset

(

void

)

Reset pid variables.

Referenced by DiscretePID().

void DUNE::Control::DiscretePID::setGains

(

const std::vector< float > &

gains

)

Set PID gains using vector.

Parameters

[in]

gains

pid gains vector in order p, i, d

void DUNE::Control::DiscretePID::setIntegralLimits

(

float

value

)

Set integral bounds (limits)

Parameters

[in]

value

absolute value of bound, lower bound will be negative

void DUNE::Control::DiscretePID::setOutputLimits	(	float	lower,
		float	upper
	)

Set output upper and lower limit.

Parameters

[in]	lower	lower limit
[in]	upper	upper limit

float DUNE::Control::DiscretePID::step	(	double	timestep,
		float	error
	)

Step forward, using an internal error derivative estimate.

Parameters

[in]	timestep	amount of time to be used in derivative and integral part
[in]	error	error between reference and measure

Returns

pid output

float DUNE::Control::DiscretePID::step	(	double	timestep,
		float	error,
		float	err_derivative
	)

Step forward, using the supplied error derivative.

Parameters

[in]	timestep	amount of time to be used in derivative and integral part
[in]	error	error between reference and measure
[in]	err_derivative	error derivative

Returns

pid output

References DUNE::IMC::ControlParcel::d, DUNE::Tasks::Task::dispatch(), DUNE::IMC::ControlParcel::i, DUNE::IMC::ControlParcel::p, and DUNE::Math::trimValue().

Collaboration diagram for DUNE::Control::DiscretePID: