PIDControl Struct Reference

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

Detailed Description

PID controller class.

Definition at line 32 of file PID.nxc.

Field Documentation

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().

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

• PID.nxc