PID Class Reference

#include <pid.h>

List of all members.

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Detailed Description

Definition at line 46 of file pid.h.

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. Definition at line 46 of file pid.cpp.

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Member Function Documentation

double getTargetPosition (   )

Definition at line 71 of file pid.cpp.

void setKP (  double  KP  )

Definition at line 62 of file pid.cpp.

void setTargetPosition (  double  newpos  )

Definition at line 66 of file pid.cpp.

double step (  double  newsensorval  )

Definition at line 76 of file pid.cpp.

double stepWithD (  double  newsensorval, double  derivative )

Definition at line 85 of file pid.cpp.

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Member Data Documentation

double alpha

Definition at line 64 of file pid.h.

double D

Definition at line 67 of file pid.h.

double error

Definition at line 56 of file pid.h.

double force

Definition at line 70 of file pid.h.

double I

Definition at line 68 of file pid.h.

double KD

Definition at line 62 of file pid.h.

double KI

Definition at line 63 of file pid.h.

double KP

Definition at line 61 of file pid.h.

double last2position

Definition at line 54 of file pid.h.

double lasterror

Definition at line 57 of file pid.h.

double lastposition

Definition at line 53 of file pid.h.

double P

Definition at line 66 of file pid.h.

double position

Definition at line 52 of file pid.h.

double targetposition

Definition at line 59 of file pid.h.

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