PID< T > Class Template Reference

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

#include <Controllers/PID.H>

Collaboration diagram for PID< T >:
Collaboration graph
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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 ()
getVel ()
getErr ()
getVal ()
getTarget ()
getPTerm ()
getRunPID ()
update (const T &target, const T &val)
 Receive a new measurement value and get the new recommended action.
update (const T &targetPos, const T &targetVel, const T &currentVal)
 Receive a new measurement value and get the new recommended action.

Detailed Description

template<class T>
class PID< T >

Definition and access functions for a BeoSub PID.

Definition at line 44 of file PID.H.


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.


Member Function Documentation

template<class T >
void PID< T >::setPIDPgain ( float  p  )  [inline]
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().


The documentation for this class was generated from the following files:
Generated on Sun May 8 08:43:38 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3