PID Class Reference

PID controller library. More...

#include <PID.h>

Public Member Functions
	PID (float kp, float ki, float kd, float max_output, float alpha)
	Initializes the PID class with necessary parameters.
void	updateReferenceValue (float ref)
	Sets the reference value.
void	setKp (float kp)
	Sets the proportional gain.
void	setKi (float ki)
	Sets the integrative gain.
void	setKd (float kd)
	Sets the derivative gain.
float	getOutput ()
	Gets output computed from the last iteration of calculate()
float	getReferenceValue ()
	Gets the currently used reference value.
void	calculate ()
	Main PID routine.
void	updateFeedback (float fb)
	Updates the feedback for PID computation.
void	resetState ()
	Resets the PID state, as if it was the first iteration.

Detailed Description

PID controller library.

Constructor & Destructor Documentation

PID()

PID::PID	(	float	kp,
		float	ki,
		float	kd,
		float	max_output,
		float	alpha
	)

Initializes the PID class with necessary parameters.

Parameters

kp	Proportional gain.
ki	Integrative gain.
kd	Derivative gain.
max_output	To define the range of the output, from -max_output to max_output.
alpha	Error filte, 1 to disable filtering.

Member Function Documentation

calculate()

void PID::calculate

(

)

Main PID routine.

Should be executed at a fixed frequency, which will influence the behaviour for a given set of gains.

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getOutput()

float PID::getOutput

(

)

Gets output computed from the last iteration of calculate()

Returns

float Output value of the PID controller.

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getReferenceValue()

float PID::getReferenceValue

(

)

Gets the currently used reference value.

Returns

float The currently set reference value.

resetState()

void PID::resetState

(

)

Resets the PID state, as if it was the first iteration.

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setKd()

void PID::setKd

(

float

kd

)

Sets the derivative gain.

Parameters

kd	Value of the derivative gain.

setKi()

void PID::setKi

(

float

ki

)

Sets the integrative gain.

Parameters

ki	Value of the integrative gain.

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setKp()

void PID::setKp

(

float

kp

)

Sets the proportional gain.

Parameters

kp	Value of the proportional gain.

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updateFeedback()

void PID::updateFeedback

(

float

fb

)

Updates the feedback for PID computation.

Parameters

fb	Feedback value.

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updateReferenceValue()

void PID::updateReferenceValue

(

float

ref

)

Sets the reference value.

Parameters

ref	Reference value for the PID.

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

• lib/PID/src/PID.h
• lib/PID/src/PID.cpp