okapi::IterativePosPIDController class

#include <include/okapi/api/control/iterative/iterativePosPidController.hpp>

Base classes

template<typename Input, typename Output>

class IterativePositionController

Public types

struct Gains

Constructors, destructors, conversion operators

IterativePosPIDController(double ikP, double ikI, double ikD, double ikBias, const TimeUtil& itimeUtil, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

Position PID controller.

IterativePosPIDController(const Gains& igains, const TimeUtil& itimeUtil, std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

Position PID controller.

Public functions

auto step(double inewReading) -> double override

Do one iteration of the controller.

void setTarget(double itarget) override

Sets the target for the controller.

void controllerSet(double ivalue) override

Writes the value of the controller output.

auto getTarget() -> double override

Gets the last set target, or the default target if none was set.

auto getTarget() const -> double

Gets the last set target, or the default target if none was set.

auto getProcessValue() const -> double override

auto getOutput() const -> double override

Returns the last calculated output of the controller.

auto getMaxOutput() -> double override

Get the upper output bound.

auto getMinOutput() -> double override

Get the lower output bound.

auto getError() const -> double override

Returns the last error of the controller.

auto isSettled() -> bool override

Returns whether the controller has settled at the target.

void setSampleTime(QTime isampleTime) override

Set time between loops in ms.

void setOutputLimits(double imax, double imin) override

Set controller output bounds.

void setControllerSetTargetLimits(double itargetMax, double itargetMin) override

Sets the (soft) limits for the target range that controllerSet() scales into.

void reset() override

Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

void flipDisable() override

Changes whether the controller is off or on.

void flipDisable(bool iisDisabled) override

Sets whether the controller is off or on.

auto isDisabled() const -> bool override

Returns whether the controller is currently disabled.

auto getSampleTime() const -> QTime override

Get the last set sample time.

void setIntegralLimits(double imax, double imin) virtual

Set integrator bounds.

void setErrorSumLimits(double imax, double imin) virtual

Set the error sum bounds.

void setIntegratorReset(bool iresetOnZero) virtual

Set whether the integrator should be reset when error is 0 or changes sign.

void setGains(const Gains& igains) virtual

Set controller gains.

auto getGains() const -> Gains

Gets the current gains.

Protected variables

std::shared_ptr<Logger> logger

double kP

double kI

double kD

double kBias

QTime sampleTime

double target

double lastReading

double error

double lastError

std::unique_ptr<Filter> derivativeFilter

double integral

double integralMax

double integralMin

double errorSumMin

double errorSumMax

double derivative

double output

double outputMax

double outputMin

double controllerSetTargetMax

double controllerSetTargetMin

bool shouldResetOnCross

bool controllerIsDisabled

std::unique_ptr<AbstractTimer> loopDtTimer

std::unique_ptr<SettledUtil> settledUtil

Function documentation