PID.hpp File Reference

#include <math.h>
#include <iostream>
#include <iomanip>
#include <vector>
#include <base/Time.hpp>

Go to the source code of this file.

Classes
struct	motor_controller::PIDSettings
	Structure to hold the PID parameters for 'IDEAL' type PID. More...
struct	motor_controller::ParallelPIDSettings
	Structure to hold the PID parameters for 'PARALLEL' type PID. More...
struct	motor_controller::PIDState
class	motor_controller::PID
	PID Implementation in C++. More...
class	motor_controller::PIDAutoTuning
	PID auto tuning using Relay Feedback. More...
class	motor_controller::PIDStepResponseProperties

Namespaces
	motor_controller

Enumerations
enum	motor_controller::DerivativeMode { motor_controller::Error, motor_controller::Output }

Functions
bool	zeroCrossing (double currValue, double prevValue, double refValue=0)
	Detects zero crossing. More...
bool	positiveZeroCrossing (double currValue, double prevValue, double refValue=0)
	Detects positive zero crossing. More...
bool	negativeZeroCrossing (double currValue, double prevValue, double refValue=0)
	Detects negative zero crossing. More...

Function Documentation

negativeZeroCrossing()

bool negativeZeroCrossing	(	double	currValue,
		double	prevValue,
		double	refValue = 0
	)

Detects negative zero crossing.

positiveZeroCrossing()

bool positiveZeroCrossing	(	double	currValue,
		double	prevValue,
		double	refValue = 0
	)

Detects positive zero crossing.

zeroCrossing()

bool zeroCrossing	(	double	currValue,
		double	prevValue,
		double	refValue = 0
	)

Detects zero crossing.

Collection of classes related to PID control.

Implements classes for

• PID
• PID auto-tuning
• extracting step response properties

Author

Ajish Babu (ajish.nosp@m..bab.nosp@m.u@dfk.nosp@m.i.de)