lemlib::FAPID Class Reference

Feedforward, Acceleration, Proportional, Integral, Derivative PID controller. More...

#include <pid.hpp>

Public Member Functions
	FAPID (float kF, float kA, float kP, float kI, float kD, std::string name)
	Construct a new FAPID. More...
void	setGains (float kF, float kA, float kP, float kI, float kD)
	Set gains. More...
void	setExit (float largeError, float smallError, int largeTime, int smallTime, int maxTime)
	Set the exit conditions. More...
float	update (float target, float position, bool log=false)
	Update the FAPID. More...
void	reset ()
	Reset the FAPID.
bool	settled ()
	Check if the FAPID has settled. More...

Static Public Member Functions
static void	init ()
	initialize the FAPID logging system More...

Detailed Description

Feedforward, Acceleration, Proportional, Integral, Derivative PID controller.

The controller does not loop on its own. It must be called in a loop. For example: while(!controller.settled) { controller.update(input, output); }

Constructor & Destructor Documentation

FAPID()

lemlib::FAPID::FAPID	(	float	kF,
		float	kA,
		float	kP,
		float	kI,
		float	kD,
		std::string	name
	)

Construct a new FAPID.

Parameters

kF	feedfoward gain, multiplied by target and added to output. Set 0 if disabled
kA	acceleration gain, limits the change in output. Set 0 if disabled
kP	proportional gain, multiplied by error and added to output
kI	integral gain, multiplied by total error and added to output
kD	derivative gain, multiplied by change in error and added to output
name	name of the FAPID. Used for logging

Member Function Documentation

init()

static void lemlib::FAPID::init ( )

static

initialize the FAPID logging system

if this function is called, std::cin will be used to interact with the FAPID

the user can interact with the FAPID through the terminal the user can access gains and other variables with the following format: <name>.<variable> to get the value of the variable <name>.<variable>_<value> to set the value of the variable for example: pid.kP_0.5 will set the kP value to 0.5 list of variables thats value can be set: kF, kA, kP, kI, kD list of variables that can be accessed: kF, kA, kP, kI, kD, totalError list of functions that can be called: reset()

setExit()

void lemlib::FAPID::setExit	(	float	largeError,
		float	smallError,
		int	largeTime,
		int	smallTime,
		int	maxTime
	)

Set the exit conditions.

Parameters

largeError	range where error is considered large
smallError	range where error is considered small
largeTime	time in milliseconds t
smallTime
maxTime

setGains()

void lemlib::FAPID::setGains	(	float	kF,
		float	kA,
		float	kP,
		float	kI,
		float	kD
	)

Set gains.

Parameters

kF	feedfoward gain, multiplied by target and added to output. Set 0 if disabled
kA	acceleration gain, limits the change in output. Set 0 if disabled
kP	proportional gain, multiplied by error and added to output
kI	integral gain, multiplied by total error and added to output
kD	derivative gain, multiplied by change in error and added to output

settled()

bool lemlib::FAPID::settled

(

)

Check if the FAPID has settled.

If the exit conditions have not been set, this function will always return false

Returns

true - the FAPID has settled

false - the FAPID has not settled

update()

float lemlib::FAPID::update	(	float	target,
		float	position,
		bool	log = false
	)

Update the FAPID.

Parameters

target	the target value
position	the current value
log	whether to check the most recent terminal input for user input. Default is false because logging multiple PIDs could slow down the program.

Returns

float - output

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

• include/lemlib/pid.hpp