control::BlockPID Class Reference

A proportional-integral-derivative controller. More...

#include <BlockPID.hpp>

Inheritance diagram for control::BlockPID:

Collaboration diagram for control::BlockPID:

Public Member Functions
	BlockPID (SuperBlock *parent, const char *name)
virtual	~BlockPID ()=default
float	update (float input)
float	getKP ()
float	getKI ()
float	getKD ()
BlockIntegral &	getIntegral ()
BlockDerivative &	getDerivative ()
Public Member Functions inherited from control::SuperBlock
	SuperBlock (SuperBlock *parent, const char *name)
	~SuperBlock ()=default
	SuperBlock (const SuperBlock &)=delete
SuperBlock &	operator= (const SuperBlock &)=delete
	SuperBlock (SuperBlock &&)=delete
SuperBlock &	operator= (SuperBlock &&)=delete
void	setDt (float dt) override
void	updateParams () override
Public Member Functions inherited from control::Block
	Block (SuperBlock *parent, const char *name)
virtual	~Block ()=default
	Block (const Block &)=delete
Block &	operator= (const Block &)=delete
	Block (Block &&)=delete
Block &	operator= (Block &&)=delete
void	getName (char *name, size_t n)
float	getDt ()
Public Member Functions inherited from ListNode< Block *>
void	setSibling (Block * sibling)
const Block *	getSibling () const

Private Attributes
BlockIntegral	_integral
BlockDerivative	_derivative
control::BlockParamFloat	_kP
control::BlockParamFloat	_kI
control::BlockParamFloat	_kD

Additional Inherited Members
Protected Member Functions inherited from control::SuperBlock
List< Block * > &	getChildren ()
void	updateChildParams ()
Protected Member Functions inherited from control::Block
virtual void	updateParamsSubclass ()
SuperBlock *	getParent ()
List< BlockParamBase * > &	getParams ()
Protected Attributes inherited from control::SuperBlock
List< Block * >	_children
Protected Attributes inherited from control::Block
const char *	_name
SuperBlock *	_parent
float	_dt {0.0f}
List< BlockParamBase * >	_params
Protected Attributes inherited from ListNode< Block *>
Block *	_list_node_sibling

Detailed Description

A proportional-integral-derivative controller.

http://en.wikipedia.org/wiki/PID_controller

Definition at line 62 of file BlockPID.hpp.

Constructor & Destructor Documentation

BlockPID()

control::BlockPID::BlockPID ( SuperBlock *  parent, const char *  name  )

inline

Definition at line 66 of file BlockPID.hpp.

~BlockPID()

virtual control::BlockPID::~BlockPID ( )

virtualdefault

Member Function Documentation

getDerivative()

BlockDerivative& control::BlockPID::getDerivative ( )

inline

Definition at line 86 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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getIntegral()

BlockIntegral& control::BlockPID::getIntegral ( )

inline

Definition at line 85 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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getKD()

float control::BlockPID::getKD ( )

inline

Definition at line 84 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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getKI()

float control::BlockPID::getKI ( )

inline

Definition at line 83 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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getKP()

float control::BlockPID::getKP ( )

inline

Definition at line 82 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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update()

float control::BlockPID::update ( float  input )

inline

Definition at line 75 of file BlockPID.hpp.

Referenced by control::blockPIDTest(), and blockPIDTest().

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Member Data Documentation

_derivative

BlockDerivative control::BlockPID::_derivative

private

Definition at line 90 of file BlockPID.hpp.

_integral

BlockIntegral control::BlockPID::_integral

private

Definition at line 89 of file BlockPID.hpp.

_kD

control::BlockParamFloat control::BlockPID::_kD

private

Definition at line 93 of file BlockPID.hpp.

_kI

control::BlockParamFloat control::BlockPID::_kI

private

Definition at line 92 of file BlockPID.hpp.

_kP

control::BlockParamFloat control::BlockPID::_kP

private

Definition at line 91 of file BlockPID.hpp.

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

• src/lib/controllib/BlockPID.hpp