Public Member Functions | |
| wPID () | |
| Constructor. | |
| double | pidloop (double currentvalue) |
| it compute a loop of PID algorithm | |
| void | reset () |
| Resets the PID status. | |
Public Attributes | |
| double | acc_ff |
| 'A' acceleration feed forward | |
| double | accel_r |
| 'R' acceleration rate | |
| double | bias |
| 'B' bias | |
| double | d_gain |
| 'D' derivative gain | |
| double | fri_ff |
| 'F' friction feed forward | |
| double | i_gain |
| 'I' integral gain | |
| double | max |
| 'M' maximum output value | |
| double | min |
| 'N' minimum output value | |
| double | p_gain |
| 'P' proportional gain | |
| double | setpt |
| 'S' set point | |
| double | slew |
| 'W' maximum slew rate | |
| double | vel_ff |
| 'V' velocity feed forward | |
Detailed Description
wPID class
- Motivation
- this class provide an implementation of PID algorithm, I didn't find it into Yarp.
- Note
- this is a C++ adaptation of pidloop example at http://jk-technology.com/C_Unleashed/code_list.html
Definition at line 59 of file motorcontrollers.h.
Constructor & Destructor Documentation
| wPID | ( | ) |
Constructor.
Definition at line 45 of file motorcontrollers.cpp.
References farsa::max(), and farsa::min().
Member Function Documentation
| double pidloop | ( | double | currentvalue | ) |
it compute a loop of PID algorithm
- Parameters
-
currentvalue is the current value of variable under the control of PID
Definition at line 65 of file motorcontrollers.cpp.
References farsa::max(), and farsa::min().
| void reset | ( | ) |
Resets the PID status.
Definition at line 138 of file motorcontrollers.cpp.
Member Data Documentation
| double acc_ff |
'A' acceleration feed forward
Definition at line 77 of file motorcontrollers.h.
| double accel_r |
'R' acceleration rate
Definition at line 85 of file motorcontrollers.h.
| double bias |
'B' bias
Definition at line 83 of file motorcontrollers.h.
| double d_gain |
'D' derivative gain
Definition at line 75 of file motorcontrollers.h.
| double fri_ff |
'F' friction feed forward
Definition at line 79 of file motorcontrollers.h.
| double i_gain |
'I' integral gain
Definition at line 73 of file motorcontrollers.h.
| double max |
'M' maximum output value
Definition at line 91 of file motorcontrollers.h.
| double min |
'N' minimum output value
Definition at line 89 of file motorcontrollers.h.
| double p_gain |
'P' proportional gain
Definition at line 71 of file motorcontrollers.h.
| double setpt |
'S' set point
Definition at line 87 of file motorcontrollers.h.
| double slew |
'W' maximum slew rate
Definition at line 93 of file motorcontrollers.h.
| double vel_ff |
'V' velocity feed forward
Definition at line 81 of file motorcontrollers.h.
The documentation for this class was generated from the following files:
- worldsim/include/motorcontrollers.h
- worldsim/src/motorcontrollers.cpp