motor_controller::PIDAutoTuning Class Reference

PID auto tuning using Relay Feedback. More...

#include <PID.hpp>

Public Member Functions
	PIDAutoTuning ()
	PIDAutoTuning (double _Ts, double _stepRef=1.0, double _inputAmplitude=0.1, double _testTimeSec=10.0)
void	setCoefficients (double _Ts, double _stepRef=1.0, double _inputAmplitude=0.1, double _testTimeSec=10.0)
double	update (double _measuredValue)
void	getTunedP (double &_Kp)
void	getTunedPI (double &_Kp, double &_Ti)
void	getTunedPID (double &_Kp, double &_Ti, double &_Td)

Detailed Description

PID auto tuning using Relay Feedback.

Constructor & Destructor Documentation

PIDAutoTuning() [1/2]

PIDAutoTuning::PIDAutoTuning

(

)

PIDAutoTuning() [2/2]

PIDAutoTuning::PIDAutoTuning	(	double	_Ts,
		double	_stepRef = 1.0,
		double	_inputAmplitude = 0.1,
		double	_testTimeSec = 10.0
	)

Member Function Documentation

getTunedP()

void PIDAutoTuning::getTunedP

(

double &

_Kp

)

getTunedPI()

void PIDAutoTuning::getTunedPI	(	double &	_Kp,
		double &	_Ti
	)

getTunedPID()

void PIDAutoTuning::getTunedPID	(	double &	_Kp,
		double &	_Ti,
		double &	_Td
	)

setCoefficients()

void PIDAutoTuning::setCoefficients	(	double	_Ts,
		double	_stepRef = 1.0,
		double	_inputAmplitude = 0.1,
		double	_testTimeSec = 10.0
	)

update()

double PIDAutoTuning::update

(

double

_measuredValue

)

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

• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PID.hpp
• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PID.cpp