pid.h File Reference

Definition of generic PID controller. More...

#include <stdint.h>

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Classes
struct	PID_t

Typedefs
typedef __BEGIN_DECLS enum PID_MODE	pid_mode_t

Enumerations
enum	PID_MODE { PID_MODE_DERIVATIV_NONE = 0, PID_MODE_DERIVATIV_CALC, PID_MODE_DERIVATIV_CALC_NO_SP, PID_MODE_DERIVATIV_SET }

Functions
__EXPORT void	pid_init (PID_t *pid, pid_mode_t mode, float dt_min)
__EXPORT int	pid_set_parameters (PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit)
__EXPORT float	pid_calculate (PID_t *pid, float sp, float val, float val_dot, float dt)
__EXPORT void	pid_reset_integral (PID_t *pid)

Detailed Description

Definition of generic PID controller.

Author

Laurens Mackay macka.nosp@m.yl@s.nosp@m.tuden.nosp@m.t.et.nosp@m.hz.ch

Tobias Naegeli naege.nosp@m.lit@.nosp@m.stude.nosp@m.nt.e.nosp@m.thz.c.nosp@m.h

Martin Rutschmann rutma.nosp@m.rti@.nosp@m.stude.nosp@m.nt.e.nosp@m.thz.c.nosp@m.h

Anton Babushkin anton.nosp@m..bab.nosp@m.ushki.nosp@m.n@me.nosp@m..com

Julian Oes joes@.nosp@m.stud.nosp@m.ent.e.nosp@m.thz..nosp@m.ch

Definition in file pid.h.

Typedef Documentation

pid_mode_t

typedef __BEGIN_DECLS enum PID_MODE pid_mode_t

Enumeration Type Documentation

PID_MODE

enum PID_MODE

Enumerator
PID_MODE_DERIVATIV_NONE
PID_MODE_DERIVATIV_CALC
PID_MODE_DERIVATIV_CALC_NO_SP
PID_MODE_DERIVATIV_SET

Definition at line 58 of file pid.h.

Function Documentation

pid_calculate()

__EXPORT float pid_calculate	(	PID_t *	pid,
		float	sp,
		float	val,
		float	val_dot,
		float	dt
	)

Definition at line 113 of file pid.cpp.

References dt, PID_t::dt_min, PID_t::error_previous, PID_t::integral, PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, PID_t::last_output, PID_t::mode, PID_t::output_limit, PID_MODE_DERIVATIV_CALC, PID_MODE_DERIVATIV_CALC_NO_SP, PID_MODE_DERIVATIV_SET, and SIGMA.

Referenced by RoverPositionControl::control_position(), and RoverPositionControl::control_velocity().

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pid_init()

__EXPORT void pid_init	(	PID_t *	pid,
		pid_mode_t	mode,
		float	dt_min
	)

Definition at line 57 of file pid.cpp.

References PID_t::dt_min, PID_t::error_previous, PID_t::integral, PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, PID_t::last_output, PID_t::mode, and PID_t::output_limit.

Referenced by RoverPositionControl::~RoverPositionControl().

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pid_reset_integral()

__EXPORT void pid_reset_integral

(

PID_t *

pid

)

Definition at line 182 of file pid.cpp.

References PID_t::integral.

pid_set_parameters()

__EXPORT int pid_set_parameters	(	PID_t *	pid,
		float	kp,
		float	ki,
		float	kd,
		float	integral_limit,
		float	output_limit
	)

Definition at line 71 of file pid.cpp.

References PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, and PID_t::output_limit.

Referenced by RoverPositionControl::~RoverPositionControl().

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