fsb::PidController Class Reference

Detailed Description

PID Controller.

#include <fsb_pid.h>

Collaboration diagram for fsb::PidController:

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

Member Function Documentation

evaluate()

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

Evalaute PID.

Parameters

command	Input command
measured	Measured feedback

Returns

Controller output

initialize()

void fsb::PidController::initialize	(	Real	step_size,
		Real	gain_kp,
		Real	gain_ki,
		Real	gain_kd,
		Real	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	command,
		Real	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