PID Class Reference

#include <pid.h>

List of all members.

Public Member Functions
	PID (double KP=100, double KI=2.0, double KD=0.3)
	KP is used as a general koefficient. KI and KD can be tuned without dependence of KP.
void	setKP (double KP)
void	setTargetPosition (double newpos)
double	getTargetPosition ()
double	step (double newsensorval)
double	stepWithD (double newsensorval, double derivative)
Public Attributes
double	position
double	lastposition
double	last2position
double	error
double	lasterror
double	targetposition
double	KP
double	KD
double	KI
double	alpha
double	P
double	D
double	I
double	force

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Constructor & Destructor Documentation

PID (  double  KP = 100, double  KI = 2.0, double  KD = 0.3 )

KP is used as a general koefficient. KI and KD can be tuned without dependence of KP.

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Member Function Documentation

double getTargetPosition (   )

void setKP (  double  KP  )

void setTargetPosition (  double  newpos  )

double step (  double  newsensorval  )

double stepWithD (  double  newsensorval, double  derivative )

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Member Data Documentation

double alpha

double D

double error

double force

double I

double KD

double KI

double KP

double last2position

double lasterror

double lastposition

double P

double position

double targetposition

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

• pid.h
• pid.cpp

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