Class SmoothPid

Defined in File smooth_pid.hpp

Inheritance Relationships

Derived Type

public tap::algorithms::FuzzyPD (Class FuzzyPD)

Class Documentation

class SmoothPid

Subclassed by tap::algorithms::FuzzyPD

Public Functions

SmoothPid(const SmoothPidConfig &pidConfig)

virtual float runController(float error, float errorDerivative, float dt)

Runs the PID controller. Should be called frequently for best results.

Parameters:

error – [in] The error (in user-defined units) between some target and measured value.
errorDerivative – [in] The derivative of the error passed in above (in user-defined units / time).
dt – [in] The difference in time between the time this function is being called and the last time this function was called.

float runControllerDerivateError(float error, float dt)

float getOutput()

void reset()

inline void setP(float p)

inline void setI(float i)

inline void setD(float d)

inline void setMaxICumulative(float maxICumulative)

inline void setMaxOutput(float maxOutput)

inline void setErrDeadzone(float errDeadzone)