#include <valkyrie/controllers/ProfiledPIDController.h>

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

Public Member Functions
constexpr	ProfiledPIDController (const PIDF< INPUT, OUTPUT > &pidf, units::second_t period=20_ms)
constexpr void	SetPID (const PIDF< INPUT, OUTPUT > &pidf)
constexpr void	SetIZone (PIDF< INPUT, OUTPUT >::Output_t iZone)
PIDF< INPUT, OUTPUT >	GetPID () const
constexpr PIDF< INPUT, OUTPUT >::Output_t	GetIZone () const
constexpr units::second_t	GetPeriod () const
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetPositionTolerance () const
constexpr ErrorDerivative	GetVelocityTolerance () const
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetAccumulatedError () const
constexpr void	SetGoal (frc::TrapezoidProfile< INPUT >::State goal)
constexpr frc::TrapezoidProfile< INPUT >::State	GetGoal () const
constexpr bool	AtGoal () const
constexpr frc::TrapezoidProfile< INPUT >::State	GetSetpoint () const
constexpr bool	AtSetpoint () const
constexpr void	EnableContinuousInput (PIDF< INPUT, OUTPUT >::Input_t minimumInput, PIDF< INPUT, OUTPUT >::Input_t maximumInput)
constexpr void	DisableContinuousInput ()
constexpr void	SetIntegratorRange (PIDF< INPUT, OUTPUT >::Output_t minimumIntegral, PIDF< INPUT, OUTPUT >::Output_t maximumIntegral)
constexpr void	SetTolerance (PIDF< INPUT, OUTPUT >::Input_t positionTolerance, ErrorDerivative velocityTolerance=ErrorDerivative{std::numeric_limits< double >::infinity()})
constexpr PIDF< INPUT, OUTPUT >::Input_t	GetPositionError () const
constexpr ErrorDerivative	GetVelocityError () const
constexpr PIDF< INPUT, OUTPUT >::Output_t	Calculate (PIDF< INPUT, OUTPUT >::Input_t measurement)
constexpr void	Reset (const frc::TrapezoidProfile< INPUT >::State &measurement)

Detailed Description

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

Implements a PID control loop whose setpoint is constrained by a trapezoid profile.

Constructor & Destructor Documentation

◆ ProfiledPIDController()

template<typename INPUT, typename OUTPUT>

valor::ProfiledPIDController< INPUT, OUTPUT >::ProfiledPIDController	(	const PIDF< INPUT, OUTPUT > &	pidf,
		units::second_t	period = 20_ms )

inlineconstexpr

Allocates a ProfiledPIDController with the given constants for Kp, Ki, and Kd. Users should call reset() when they first start running the controller to avoid unwanted behavior.

Parameters

pidf	The PIDF gains
constraints	Velocity and acceleration constraints for goal.
period	The period between controller updates in seconds. The default is 20 milliseconds. Must be positive.

Member Function Documentation

◆ AtGoal()

template<typename INPUT, typename OUTPUT>

bool valor::ProfiledPIDController< INPUT, OUTPUT >::AtGoal ( ) const

inlineconstexpr

Returns true if the error is within the tolerance of the error.

This will return false until at least one input value has been computed.

◆ AtSetpoint()

template<typename INPUT, typename OUTPUT>

bool valor::ProfiledPIDController< INPUT, OUTPUT >::AtSetpoint ( ) const

inlineconstexpr

Returns true if the error is within the tolerance of the error.

Currently this just reports on target as the actual value passes through the setpoint. Ideally it should be based on being within the tolerance for some period of time.

This will return false until at least one input value has been computed.

◆ Calculate()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Output_t valor::ProfiledPIDController< 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.

◆ DisableContinuousInput()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< INPUT, OUTPUT >::DisableContinuousInput ( )

inlineconstexpr

Disables continuous input.

◆ EnableContinuousInput()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< 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::ProfiledPIDController< INPUT, OUTPUT >::GetAccumulatedError ( ) const

inlineconstexpr

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

Returns: The accumulated error of this controller.

◆ GetGoal()

template<typename INPUT, typename OUTPUT>

frc::TrapezoidProfile< INPUT >::State valor::ProfiledPIDController< INPUT, OUTPUT >::GetGoal ( ) const

inlineconstexpr

Gets the goal for the ProfiledPIDController.

◆ GetIZone()

template<typename INPUT, typename OUTPUT>

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

inlineconstexpr

Get the IZone range.

Returns: Maximum magnitude of error to allow integral control.

◆ GetPeriod()

template<typename INPUT, typename OUTPUT>

units::second_t valor::ProfiledPIDController< INPUT, OUTPUT >::GetPeriod ( ) const

inlineconstexpr

Gets the period of this controller.

Returns: The period of the controller.

◆ GetPID()

template<typename INPUT, typename OUTPUT>

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

inline

Gets the proportional coefficient.

Returns: PIDF gains

◆ GetPositionError()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::ProfiledPIDController< INPUT, OUTPUT >::GetPositionError ( ) const

inlineconstexpr

Returns the difference between the setpoint and the measurement.

Returns: The error.

◆ GetPositionTolerance()

template<typename INPUT, typename OUTPUT>

PIDF< INPUT, OUTPUT >::Input_t valor::ProfiledPIDController< INPUT, OUTPUT >::GetPositionTolerance ( ) const

inlineconstexpr

Gets the position tolerance of this controller.

Returns: The position tolerance of the controller.

◆ GetSetpoint()

template<typename INPUT, typename OUTPUT>

frc::TrapezoidProfile< INPUT >::State valor::ProfiledPIDController< INPUT, OUTPUT >::GetSetpoint ( ) const

inlineconstexpr

Returns the current setpoint of the ProfiledPIDController.

Returns: The current setpoint.

◆ GetVelocityError()

template<typename INPUT, typename OUTPUT>

ErrorDerivative valor::ProfiledPIDController< INPUT, OUTPUT >::GetVelocityError ( ) const

inlineconstexpr

Returns the change in error per second.

◆ GetVelocityTolerance()

template<typename INPUT, typename OUTPUT>

ErrorDerivative valor::ProfiledPIDController< INPUT, OUTPUT >::GetVelocityTolerance ( ) const

inlineconstexpr

Gets the velocity tolerance of this controller.

Returns: The velocity tolerance of the controller.

◆ Reset()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< INPUT, OUTPUT >::Reset ( const frc::TrapezoidProfile< INPUT >::State & measurement )

inlineconstexpr

Reset the previous error and the integral term.

Parameters

measurement The current measured State of the system.

◆ SetGoal()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< INPUT, OUTPUT >::SetGoal ( frc::TrapezoidProfile< INPUT >::State goal )

inlineconstexpr

Sets the goal for the ProfiledPIDController.

Parameters

goal	The desired unprofiled setpoint.

◆ SetIntegratorRange()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< 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::ProfiledPIDController< 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.

◆ SetPID()

template<typename INPUT, typename OUTPUT>

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

inlineconstexpr

Sets the PID Controller gain parameters.

Sets the proportional, integral, and differential coefficients.

Parameters

pidf	The PIDF gains

◆ SetTolerance()

template<typename INPUT, typename OUTPUT>

void valor::ProfiledPIDController< INPUT, OUTPUT >::SetTolerance	(	PIDF< INPUT, OUTPUT >::Input_t	positionTolerance,
		ErrorDerivative	velocityTolerance = ErrorDerivative{std::numeric_limits<double>::infinity()} )

inlineconstexpr

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

Parameters

positionTolerance	Position error which is tolerable.
velocityTolerance	Velocity error which is tolerable.

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

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

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ProfiledPIDController()

Member Function Documentation

◆ AtGoal()

◆ AtSetpoint()

◆ Calculate()

◆ DisableContinuousInput()

◆ EnableContinuousInput()

◆ GetAccumulatedError()

◆ GetGoal()

◆ GetIZone()

◆ GetPeriod()

◆ GetPID()

◆ GetPositionError()

◆ GetPositionTolerance()

◆ GetSetpoint()

◆ GetVelocityError()

◆ GetVelocityTolerance()

◆ Reset()

◆ SetGoal()

◆ SetIntegratorRange()

◆ SetIZone()

◆ SetPID()

◆ SetTolerance()