libnxter
0.1

PID controller class. More...
Data Fields  
long  PIDScale 
long  PValue 
long  IValue 
long  DValue 
long  setPoint 
int  steadyStateCountThreshold 
long  outputGain 
long  absMaxOutput 
long  absIntegralLimit 
long  integral 
long  lastError 
long PIDControl::absIntegralLimit 
Maximum absolute value the integral output can take
Definition at line 46 of file PID.nxc.
Referenced by PIDControlInit(), PIDControlSetIntegralLimit(), and PIDControlStep().
long PIDControl::absMaxOutput 
Maximum absolute value the output can take
Definition at line 45 of file PID.nxc.
Referenced by PIDControlInit(), PIDControlStep(), and SonarSweep().
long PIDControl::DValue 
D value
Definition at line 37 of file PID.nxc.
Referenced by PIDControlInit(), and PIDControlStep().
long PIDControl::integral 
< Current error integral Error during last step
Definition at line 49 of file PID.nxc.
Referenced by PIDControlInit(), PIDControlSetPoint(), and PIDControlStep().
long PIDControl::IValue 
I value
Definition at line 36 of file PID.nxc.
Referenced by PIDControlInit(), and PIDControlStep().
long PIDControl::lastError 
Number of samples error hasn't changed
Definition at line 50 of file PID.nxc.
Referenced by PIDControlGetLastError(), PIDControlInit(), and PIDControlStep().
long PIDControl::outputGain 
Output gain to multiply PID output to get output
Definition at line 44 of file PID.nxc.
Referenced by PIDControlInit(), and PIDControlStep().
long PIDControl::PIDScale 
The scale of P, I, D values
Definition at line 34 of file PID.nxc.
Referenced by PIDControlInit(), and PIDControlStep().
long PIDControl::PValue 
P value
Definition at line 35 of file PID.nxc.
Referenced by PIDControlInit(), and PIDControlStep().
long PIDControl::setPoint 
Current set point
Definition at line 38 of file PID.nxc.
Referenced by PIDControlInit(), PIDControlSetPoint(), and PIDControlStep().
int PIDControl::steadyStateCountThreshold 
Threshold count for ending control if the error stays that many steps unchanged
Definition at line 39 of file PID.nxc.
Referenced by PIDControlCheckEnd(), PIDControlInit(), and PIDControlStep().