PID Class Reference

#include <pid.h>

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)
	perform one step of the PID controller with cutoff for large forces
double	stepNoCutoff (double newsensorval, double time)
	perform one step of the PID controller without cutoffs used for Center-Servos
double	stepVelocity (double newsensorval, double time)
	perform one step of the PID controller for velocity control.
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
	)

perform one step of the PID controller with cutoff for large forces

double stepNoCutoff	(	double	newsensorval,
		double	time
	)

perform one step of the PID controller without cutoffs used for Center-Servos

double stepVelocity	(	double	newsensorval,
		double	time
	)

perform one step of the PID controller for velocity control.

Meaning the misfit is in position space but the output is the nominal velocity. The velocity is also limited. such that the maximal velocity cannot be so that the error is overcompenstated in one timestep.