PID Class Reference

Proportional-integral-derivative controller. More...

#include <PID.h>

Public Member Functions
	PID (float Kc, float tauI, float tauD, float interval)
	Contructor. More...
void	setInputLimits (float inMin, float inMax)
	Scale from inputs to 0-100%. More...
void	setOutputLimits (float outMin, float outMax)
	Scale from outputs to 0-100%. More...
void	setTunings (float Kc, float tauI, float tauD)
	Calculate PID constants. More...
void	reset ()
	Reset previous values of output and error. More...
void	setSetPoint (float sp)
	Set the set point. More...
float	getSetPoint ()
	Get the setpoint. More...
void	setProcessValue (float pv)
	Set the process value. More...
void	setBias (float bias)
	Set the bias. More...
float	compute (void)
	PID calculation. More...

Protected Attributes
bool	_usingFeedForward
float	_Kc
float	_tauR
float	_tauD
float	_pParam
float	_iParam
float	_dParam
float	_setPoint
float	_processVariable
float	_prevProcessVariable
float	_prevError
float	_controllerOutput
float	_prevControllerOutput
float	_inMin
float	_inMax
float	_inSpan
float	_outMin
float	_outMax
float	_outSpan
float	_accError
float	_bias
float	_a
float	_tSample

Detailed Description

Proportional-integral-derivative controller.

Constructor & Destructor Documentation

PID()

PID::PID	(	float	Kc,
		float	tauI,
		float	tauD,
		float	interval
	)

Contructor.

Sets default limits [0-3.3V], calculates tuning parameters, and sets manual mode with no bias.

Parameters

Kc	- Proportional gain
tauI	- Integral gain
tauD	- Derivative gain
interval	- PID calculation performed every interval seconds.

Member Function Documentation

setInputLimits()

void PID::setInputLimits	(	float	inMin,
		float	inMax
	)

Scale from inputs to 0-100%.

Parameters

inMin	- The real world value corresponding to 0%
inMax	- The real world value corresponding to 100%

setOutputLimits()

void PID::setOutputLimits	(	float	outMin,
		float	outMax
	)

Scale from outputs to 0-100%.

Parameters

outMin	- The real world value corresponding to 0%
outMax	- The real world value corresponding to 100%

setTunings()

void PID::setTunings	(	float	Kc,
		float	tauI,
		float	tauD
	)

Calculate PID constants.

Allows parameters to be changed on the fly without ruining calculations.

Parameters

Kc	- Proportional gain
tauI	- Integral gain
tauD	- Derivative gain

reset()

void PID::reset

(

)

Reset previous values of output and error.

setSetPoint()

void PID::setSetPoint

(

float

sp

)

Set the set point.

Parameters

sp	The set point as a real world value.

getSetPoint()

float PID::getSetPoint

(

)

Get the setpoint.

Returns

float Setpoint

setProcessValue()

void PID::setProcessValue

(

float

pv

)

Set the process value.

Parameters

pv	The process value as a real world value.

setBias()

void PID::setBias

(

float

bias

)

Set the bias.

Parameters

bias	The bias for the controller output.

compute()

float PID::compute

(

void

)

PID calculation.

Returns

The controller output as a float between outMin and outMax.

Member Data Documentation

_usingFeedForward

bool PID::_usingFeedForward

protected

_Kc

float PID::_Kc

protected

_tauR

float PID::_tauR

protected

_tauD

float PID::_tauD

protected

_pParam

float PID::_pParam

protected

_iParam

float PID::_iParam

protected

_dParam

float PID::_dParam

protected

_setPoint

float PID::_setPoint

protected

_processVariable

float PID::_processVariable

protected

_prevProcessVariable

float PID::_prevProcessVariable

protected

_prevError

float PID::_prevError

protected

_controllerOutput

float PID::_controllerOutput

protected

_prevControllerOutput

float PID::_prevControllerOutput

protected

_inMin

float PID::_inMin

protected

_inMax

float PID::_inMax

protected

_inSpan

float PID::_inSpan

protected

_outMin

float PID::_outMin

protected

_outMax

float PID::_outMax

protected

_outSpan

float PID::_outSpan

protected

_accError

float PID::_accError

protected

_bias

float PID::_bias

protected

_a

float PID::_a

protected

_tSample

float PID::_tSample

protected

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

• /github/workspace/include/PID/PID.h