fsb::PidController Class Reference

Detailed Description

PID Controller.

#include <fsb_pid.h>

Collaboration diagram for fsb::PidController:

Public Member Functions
void	initialize (real_t step_size, real_t gain_kp, real_t gain_ki, real_t gain_kd, real_t filter_tf, PidType type=PidType::TRAPEZOIDAL)
	Initialize PID.
void	reset (real_t command, real_t measured)
	Reset PID to given command and measure.
real_t	evaluate (real_t command, real_t measured)
	Evalaute PID.

Member Function Documentation

evaluate()

real_t fsb::PidController::evaluate	(	real_t	command,
		real_t	measured
	)

Evalaute PID.

Parameters

command	Input command
measured	Measured feedback

Returns

Controller output

initialize()

void fsb::PidController::initialize	(	real_t	step_size,
		real_t	gain_kp,
		real_t	gain_ki,
		real_t	gain_kd,
		real_t	filter_tf,
		PidType	type = PidType::TRAPEZOIDAL
	)

Initialize PID.

Parameters

step_size	Step size in seconds
gain_kp	Proportional gain
gain_ki	Integral gain
gain_kd	Derivative gain
filter_tf	Derivative filter time constant
type	Type of discretization

reset()

void fsb::PidController::reset	(	real_t	command,
		real_t	measured
	)

Reset PID to given command and measure.

The integral and derivative components of the internal state will be set to 0

Parameters

command	Command value at reset
measured	Measured value at reset

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

• fsb-core/include/fsb_pid.h
• fsb-core/src/fsb_pid.cpp