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 time)
double stepNoCutoff (double newsensorval, double time)

Public Attributes

double position
double lastposition
double last2position
double error
double lasterror
double derivative
double targetposition
double KP
double KI
double KD
double tau
double P
double D
double I
double force
double lasttime

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.


Member Function Documentation

double getTargetPosition (  ) 
void setKP ( double  KP  ) 
void setTargetPosition ( double  newpos  ) 
double step ( double  newsensorval,
double  time 
)
double stepNoCutoff ( double  newsensorval,
double  time 
)

Member Data Documentation

double D
double derivative
double error
double force
double I
double KD
double KI
double KP
double last2position
double lasterror
double lastposition
double lasttime
double P
double position
double tau

The documentation for this class was generated from the following files:
Generated on Fri Nov 4 10:59:40 2011 for Robot Simulator of the Robotics Group for Self-Organization of Control by  doxygen 1.6.3