PID< T > Class Template Reference

Definition and access functions for a BeoSub PID. More...

#include <Controllers/PID.H>

Collaboration diagram for PID< T >:

[legend]

List of all members.

Public Member Functions
	PID (const float pGain, const float iGain, const float dGain, const T &iMin, const T &iMax, const T &errThresh=0, const T &posThresh=0, const T &negThresh=0, const T &maxMotor=100, const T &minMotor=-100, const int noMoveThresh=150, const bool runPID=true, const float speed=1, const T &posStaticErrThresh=50, const T &negStaticErrThresh=-50)
	Constructor.
	~PID ()
	Destructor.
void	setPIDPgain (float p)
	Set the gains.
void	setPIDIgain (float i)
void	setPIDDgain (float d)
void	setSpeed (float s)
void	setPIDOn (bool val)
float	getPIDPgain ()
float	getPIDIgain ()
float	getPIDDgain ()
T	getVel ()
T	getErr ()
T	getVal ()
T	getTarget ()
T	getPTerm ()
T	getRunPID ()
T	update (const T &target, const T &val)
	Receive a new measurement value and get the new recommended action.
T	update (const T &targetPos, const T &targetVel, const T &currentVal)
	Receive a new measurement value and get the new recommended action.

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Detailed Description

template<class T>
class PID< T >

Definition and access functions for a BeoSub PID.

Definition at line 44 of file PID.H.

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Constructor & Destructor Documentation

template<class T>

PID< T >::PID	(	const float	pGain,
		const float	iGain,
		const float	dGain,
		const T &	iMin,
		const T &	iMax,
		const T &	errThresh = 0,
		const T &	posThresh = 0,
		const T &	negThresh = 0,
		const T &	maxMotor = 100,
		const T &	minMotor = -100,
		const int	noMoveThresh = 150,
		const bool	runPID = true,
		const float	speed = 1,
		const T &	posStaticErrThresh = 50,
		const T &	negStaticErrThresh = -50
	)			[inline]

Constructor.

Definition at line 45 of file PID.C.

template<class T >

PID< T >::~PID

(

)

[inline]

Destructor.

Definition at line 72 of file PID.C.

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Member Function Documentation

template<class T >

void PID< T >::setPIDPgain

(

float

p

)

[inline]

Set the gains.

Definition at line 77 of file PID.C.

Referenced by MovementController::paramChanged(), BeoSubOneBal::setDepthPgain(), BeoSubOneBal::setHeadingPgain(), BeoSubOneBal::setPitchPgain(), BeoSubOneBal::setRotVelPgain(), tunePID(), and SeaBee3Simulator::updateMessage().

template<class T>

T PID< T >::update	(	const T &	targetPos,
		const T &	targetVel,
		const T &	currentVal
	)			[inline]

Receive a new measurement value and get the new recommended action.

Definition at line 188 of file PID.C.

template<class T>

T PID< T >::update	(	const T &	target,
		const T &	val
	)			[inline]

Receive a new measurement value and get the new recommended action.

Definition at line 109 of file PID.C.

Referenced by MyBeeSTEMListener::event(), BeoPilot::evolve(), IMUListener::newData(), BeoSubOneBal::updateCompass(), and BeoSubOneBal::updateDepth().

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

• src/Controllers/PID.H
• src/Controllers/PID.C