#include <valkyrie/controllers/PIDController.h>

Inheritance diagram for valor::PIDController< INPUT, OUTPUT >:

Public Types
using	ErrorDerivative = units::unit_t<units::compound_unit<INPUT, units::inverse<units::second>>>

Public Member Functions
constexpr	PIDController (const PIDF< INPUT, OUTPUT > &pidf, units::second_t period=Robot::kDefaultPeriod)
constexpr void	SetPID (const PIDF< INPUT, OUTPUT > &pidf)
constexpr void	SetP (PIDF< INPUT, OUTPUT >::ProportionalGain_t Kp)
constexpr void	SetI (PIDF< INPUT, OUTPUT >::IntegralGain_t Ki)
constexpr void	SetD (PIDF< INPUT, OUTPUT >::DerivativeGain_t Kd)
constexpr void	SetIZone (PIDF< INPUT, OUTPUT >::Output_t iZone)
constexpr PIDF< INPUT, OUTPUT >::ProportionalGain_t	GetP () const
constexpr PIDF< INPUT, OUTPUT >::IntegralGain_t	GetI () const
constexpr PIDF< INPUT, OUTPUT >::DerivativeGain_t	GetD () const
constexpr PIDF< INPUT, OUTPUT >::Output_t	GetIZone () const
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetErrorTolerance () const
constexpr ErrorDerivative	GetErrorDerivativeTolerance () const
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetAccumulatedError () const
constexpr void	SetSetpoint (PIDF< INPUT, OUTPUT >::Input_t setpoint)
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetSetpoint () const
constexpr void	EnableContinuousInput (PIDF< INPUT, OUTPUT >::Input_t minimumInput, PIDF< INPUT, OUTPUT >::Input_t maximumInput)
constexpr void	SetIntegratorRange (PIDF< INPUT, OUTPUT >::Output_t minimumIntegral, PIDF< INPUT, OUTPUT >::Output_t maximumIntegral)
constexpr void	SetTolerance (PIDF< INPUT, OUTPUT >::Input_t errorTolerance, ErrorDerivative errorDerivativeTolerance=ErrorDerivative{std::numeric_limits< double >::infinity()})
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetError () const
constexpr ErrorDerivative	GetErrorDerivative () const
constexpr const valor::PIDF< INPUT, OUTPUT > &	GetPID () const
constexpr PIDF< INPUT, OUTPUT >::Output_t	Calculate (PIDF< INPUT, OUTPUT >::Input_t measurement)
constexpr PIDF< INPUT, OUTPUT >::Output_t	Calculate (PIDF< INPUT, OUTPUT >::Input_t measurement, PIDF< INPUT, OUTPUT >::Input_t setpoint)

Detailed Description

template<typename INPUT, typename OUTPUT>
class valor::PIDController< INPUT, OUTPUT >

Implements a PID control loop.

Constructor & Destructor Documentation

◆ PIDController()

template<typename INPUT, typename OUTPUT>

valor::PIDController< INPUT, OUTPUT >::PIDController	(	const PIDF< INPUT, OUTPUT > &	pidf,
		units::second_t	period = Robot::kDefaultPeriod )

inlineconstexpr

Allocates a PIDController with the given constants.

Parameters

pidf	The PIDF structure defining feedforward and gains.
period	The period between controller updates in seconds. The default is 20 milliseconds. Must be positive.

Member Function Documentation

◆ Calculate() [1/2]

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Output_t valor::PIDController< INPUT, OUTPUT >::Calculate ( PIDF< INPUT, OUTPUT >::Input_t measurement )

inlineconstexpr

Returns the next output of the PID controller.

Parameters

measurement The current measurement of the process variable.

◆ Calculate() [2/2]

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Output_t valor::PIDController< INPUT, OUTPUT >::Calculate	(	PIDF< INPUT, OUTPUT >::Input_t	measurement,
		PIDF< INPUT, OUTPUT >::Input_t	setpoint )

inlineconstexpr

Returns the next output of the PID controller.

Parameters

measurement	The current measurement of the process variable.
setpoint	The new setpoint of the controller.

◆ EnableContinuousInput()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::EnableContinuousInput	(	PIDF< INPUT, OUTPUT >::Input_t	minimumInput,
		PIDF< INPUT, OUTPUT >::Input_t	maximumInput )

inlineconstexpr

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters

minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

◆ GetAccumulatedError()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::PIDController< INPUT, OUTPUT >::GetAccumulatedError ( ) const

inlineconstexpr

Gets the accumulated error used in the integral calculation of this controller.

Returns: The accumulated error of this controller.

◆ GetD()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::DerivativeGain_t valor::PIDController< INPUT, OUTPUT >::GetD ( ) const

inlineconstexpr

Gets the differential coefficient.

Returns: differential coefficient

◆ GetError()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::PIDController< INPUT, OUTPUT >::GetError ( ) const

inlineconstexpr

Returns the difference between the setpoint and the measurement.

◆ GetErrorDerivative()

template<typename INPUT, typename OUTPUT>

ErrorDerivative valor::PIDController< INPUT, OUTPUT >::GetErrorDerivative ( ) const

inlineconstexpr

Returns the error derivative.

◆ GetErrorDerivativeTolerance()

template<typename INPUT, typename OUTPUT>

ErrorDerivative valor::PIDController< INPUT, OUTPUT >::GetErrorDerivativeTolerance ( ) const

inlineconstexpr

Gets the error derivative tolerance of this controller. Defaults to ∞.

Returns: The error derivative tolerance of the controller.

◆ GetErrorTolerance()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::PIDController< INPUT, OUTPUT >::GetErrorTolerance ( ) const

inlineconstexpr

Gets the error tolerance of this controller. Defaults to 0.05.

Returns: The error tolerance of the controller.

◆ GetI()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::IntegralGain_t valor::PIDController< INPUT, OUTPUT >::GetI ( ) const

inlineconstexpr

Gets the integral coefficient.

Returns: integral coefficient

◆ GetIZone()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Output_t valor::PIDController< INPUT, OUTPUT >::GetIZone ( ) const

inlineconstexpr

Get the IZone range.

Returns: Maximum magnitude of error to allow integral control.

◆ GetP()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::ProportionalGain_t valor::PIDController< INPUT, OUTPUT >::GetP ( ) const

inlineconstexpr

Gets the proportional coefficient.

Returns: proportional coefficient

◆ GetPID()

template<typename INPUT, typename OUTPUT>

const valor::PIDF< INPUT, OUTPUT > & valor::PIDController< INPUT, OUTPUT >::GetPID ( ) const

inlineconstexpr

Gets the PID gains

Returns: PID gains

◆ GetSetpoint()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::PIDController< INPUT, OUTPUT >::GetSetpoint ( ) const

inlineconstexpr

Returns the current setpoint of the PIDController.

Returns: The current setpoint.

◆ SetD()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetD ( PIDF< INPUT, OUTPUT >::DerivativeGain_t Kd )

inlineconstexpr

Sets the differential coefficient of the PID controller gain.

Parameters

Kd	The differential coefficient. Must be >= 0.

◆ SetI()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetI ( PIDF< INPUT, OUTPUT >::IntegralGain_t Ki )

inlineconstexpr

Sets the integral coefficient of the PID controller gain.

Parameters

Ki	The integral coefficient. Must be >= 0.

◆ SetIntegratorRange()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetIntegratorRange	(	PIDF< INPUT, OUTPUT >::Output_t	minimumIntegral,
		PIDF< INPUT, OUTPUT >::Output_t	maximumIntegral )

inlineconstexpr

Sets the minimum and maximum contributions of the integral term.

The internal integrator is clamped so that the integral term's contribution to the output stays between minimumIntegral and maximumIntegral. This prevents integral windup.

Parameters

minimumIntegral	The minimum contribution of the integral term.
maximumIntegral	The maximum contribution of the integral term.

◆ SetIZone()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetIZone ( PIDF< INPUT, OUTPUT >::Output_t iZone )

inlineconstexpr

Sets the IZone range. When the absolute value of the position error is greater than IZone, the total accumulated error will reset to zero, disabling integral gain until the absolute value of the position error is less than IZone. This is used to prevent integral windup. Must be non-negative. Passing a value of zero will effectively disable integral gain. Passing a value of infinity disables IZone functionality.

Parameters

iZone Maximum magnitude of error to allow integral control. Must be >= 0.

◆ SetP()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetP ( PIDF< INPUT, OUTPUT >::ProportionalGain_t Kp )

inlineconstexpr

Sets the proportional coefficient of the PID controller gain.

Parameters

Kp	The proportional coefficient. Must be >= 0.

◆ SetPID()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetPID ( const PIDF< INPUT, OUTPUT > & pidf )

inlineconstexpr

Sets the PID Controller gain parameters.

Parameters

pidf	The PIDF structure defining feedforward and gains.

◆ SetSetpoint()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetSetpoint ( PIDF< INPUT, OUTPUT >::Input_t setpoint )

inlineconstexpr

Sets the setpoint for the PIDController.

Parameters

setpoint The desired setpoint.

◆ SetTolerance()

template<typename INPUT, typename OUTPUT>

void valor::PIDController< INPUT, OUTPUT >::SetTolerance	(	PIDF< INPUT, OUTPUT >::Input_t	errorTolerance,
		ErrorDerivative	errorDerivativeTolerance = ErrorDerivative{std::numeric_limits<double>::infinity()} )

inlineconstexpr

Sets the error which is considered tolerable for use with AtSetpoint().

Parameters

errorTolerance	error which is tolerable.
errorDerivativeTolerance	error derivative which is tolerable.

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

src/main/include/valkyrie/controllers/PIDController.h

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PIDController()

Member Function Documentation

◆ Calculate() [1/2]

◆ Calculate() [2/2]

◆ EnableContinuousInput()

◆ GetAccumulatedError()

◆ GetD()

◆ GetError()

◆ GetErrorDerivative()

◆ GetErrorDerivativeTolerance()

◆ GetErrorTolerance()

◆ GetI()

◆ GetIZone()

◆ GetP()

◆ GetPID()

◆ GetSetpoint()

◆ SetD()

◆ SetI()

◆ SetIntegratorRange()

◆ SetIZone()

◆ SetP()

◆ SetPID()

◆ SetSetpoint()

◆ SetTolerance()