PID Class Reference

Object managing one PID control. More...

#include <PID.h>

Collaboration diagram for PID:

List of all members.

Public Types
enum	storage_t { STORE_OFF, STORE_EEPROM_FLOAT, STORE_EEPROM_UINT16 }
Public Member Functions
	PID ()
	PID (uint16_t address, storage_t storage=STORE_EEPROM_UINT16)
	PID (float *gain_array)
long	get_pid (int32_t error, uint16_t dt, float scaler=1.0)
void	reset_I ()
void	load_gains ()
void	save_gains ()
float	get_integrator ()
parameter accessors
float	kP ()
float	kI ()
float	kD ()
float	imax ()
void	kP (const float v)
void	kI (const float v)
void	kD (const float v)
void	imax (const float v)
void	address (const uint16_t v)
Public Attributes
enum PID::storage_t	_storage

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Detailed Description

Object managing one PID control.

Definition at line 14 of file PID.h.

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Member Enumeration Documentation

enum PID::storage_t

Enumerator:

STORE_OFF
STORE_EEPROM_FLOAT
STORE_EEPROM_UINT16

Definition at line 18 of file PID.h.

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Constructor & Destructor Documentation

PID::PID

(

)

[inline]

Constructor

A PID constructed in this fashion does not support save/restore. Gains are managed internally, and must be read/written using the accessor functions.

Definition at line 31 of file PID.h.

PID::PID	(	uint16_t	address,
		storage_t	storage = STORE_EEPROM_UINT16
	)			[inline]

Constructor

The PID will manage gains internally, and the load/save functions will use 16 bytes of EEPROM storage to store gain values.

Parameters:

address

EEPROM base address at which PID parameters are stored.

Definition at line 45 of file PID.h.

PID::PID

(

float *

gain_array

)

[inline]

Constructor

Gain values for the PID are managed externally; load/save are a NOP.

Parameters:

gain_array

Address of an array of float values. The array is used as kP, kI, kD and imax respectively.

Definition at line 62 of file PID.h.

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Member Function Documentation

void PID::address

(

const uint16_t

v

)

[inline]

Definition at line 111 of file PID.h.

float PID::get_integrator

(

)

[inline]

Definition at line 118 of file PID.h.

long PID::get_pid	(	int32_t	error,
		uint16_t	dt,
		float	scaler = 1.0
	)

Iterate the PID, return the new control value

Positive error produces positive output.

Parameters:

	error	The measured error value
	dt	The time delta in milliseconds (note that update interval cannot be more than 65.535 seconds due to limited range of the data type).
	scaler	An arbitrary scale factor

Returns:

The updated control output.

Definition at line 18 of file PID.cpp.

float PID::imax

(

)

[inline]

Definition at line 104 of file PID.h.

void PID::imax

(

const float

v

)

Definition at line 61 of file PID.cpp.

void PID::kD

(

const float

v

)

[inline]

Definition at line 108 of file PID.h.

float PID::kD

(

)

[inline]

Definition at line 103 of file PID.h.

void PID::kI

(

const float

v

)

[inline]

Definition at line 107 of file PID.h.

float PID::kI

(

)

[inline]

Definition at line 102 of file PID.h.

float PID::kP

(

)

[inline]

Definition at line 101 of file PID.h.

void PID::kP

(

const float

v

)

[inline]

Definition at line 106 of file PID.h.

void PID::load_gains

(

)

Load gain properties

Definition at line 67 of file PID.cpp.

void PID::reset_I

(

)

[inline]

Reset the PID integrator

Definition at line 85 of file PID.h.

void PID::save_gains

(

)

Save gain properties

Definition at line 97 of file PID.cpp.

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Member Data Documentation

enum PID::storage_t PID::_storage

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

• /home/jgoppert/Projects/ap/libraries/PID/PID.h
• /home/jgoppert/Projects/ap/libraries/PID/PID.cpp