PDController< FType > Class Template Reference

#include <RobotAPI/components/units/RobotUnit/PDController.h>

Public Types
using	FloatingType = FType

Public Member Functions
FloatingType	getD () const
FloatingType	getHiOutLimit () const
std::uint64_t	getIterationCount () const
FloatingType	getLastInValue () const
FloatingType	getLastOutInterpolationFactor () const
FloatingType	getLastOutValue () const
FloatingType	getLastTarget () const
FloatingType	getLoOutLimit () const
FloatingType	getMaxError () const
FloatingType	getOutRampDelta () const
FloatingType	getP () const
FloatingType	getTargetRadius () const
void	limitOut (FloatingType min, FloatingType max)
	set limits for the output value
void	limitOut (FloatingType out)
	set limits for the output value (lo and hi limits are set to the same value)
	PDController (FloatingType p=0, FloatingType d=0)
void	reset ()
	reset phe controller
void	setD (FloatingType d)
void	setLastOutInterpolation (FloatingType lastOutFactor)
void	setMaxError (FloatingType error)
void	setOutRampDelta (FloatingType delta)
void	setP (FloatingType p)
void	setTargetRadius (FloatingType radius)
FloatingType	update ()
	update the controller using the last input and target value
FloatingType	update (FloatingType inValue)
	update the controller using the last target value
FloatingType	update (FloatingType inValue, FloatingType target)
	update the controller

Member Typedef Documentation

FloatingType

template<class FType>

using FloatingType = FType

Constructor & Destructor Documentation

PDController()

template<class FType>

PDController ( FloatingType p = 0, FloatingType d = 0 )

inline

Member Function Documentation

getD()

template<class FType>

FType getD ( ) const

inline

See also

Kd

getHiOutLimit()

template<class FType>

FType getHiOutLimit ( ) const

inline

See also

limitOutHi

getIterationCount()

template<class FType>

uint64_t getIterationCount ( ) const

inline

See also

iterationCount

getLastInValue()

template<class FType>

FType getLastInValue ( ) const

inline

See also

lastInValue

getLastOutInterpolationFactor()

template<class FType>

FType getLastOutInterpolationFactor ( ) const

inline

See also

lastOutInterpolation

getLastOutValue()

template<class FType>

FType getLastOutValue ( ) const

inline

See also

lastOut

getLastTarget()

template<class FType>

FType getLastTarget ( ) const

inline

See also

lastTarget

getLoOutLimit()

template<class FType>

FType getLoOutLimit ( ) const

inline

See also

limitOutLo

getMaxError()

template<class FType>

FType getMaxError ( ) const

inline

See also

maxError

getOutRampDelta()

template<class FType>

FType getOutRampDelta ( ) const

inline

See also

outRampDelta

getP()

template<class FType>

FType getP ( ) const

inline

See also

Kp

getTargetRadius()

template<class FType>

FType getTargetRadius ( ) const

inline

See also

targetRadius

limitOut() [1/2]

template<class FType>

void limitOut ( FloatingType min, FloatingType max )

inline

set limits for the output value

See also

limitOutHi

limitOutLo

limitOut() [2/2]

template<class FType>

void limitOut ( FloatingType out )

inline

set limits for the output value (lo and hi limits are set to the same value)

See also

limitOutHi

limitOutLo

reset()

template<class FType>

void reset ( )

inline

reset phe controller

setD()

template<class FType>

void setD ( FloatingType d )

inline

See also

Kd

setLastOutInterpolation()

template<class FType>

void setLastOutInterpolation ( FloatingType lastOutFactor )

inline

See also

lastOutInterpolation

setMaxError()

template<class FType>

void setMaxError ( FloatingType error )

inline

See also

maxError

setOutRampDelta()

template<class FType>

void setOutRampDelta ( FloatingType delta )

inline

See also

outRampDelta

setP()

template<class FType>

void setP ( FloatingType p )

inline

See also

Kp

setTargetRadius()

template<class FType>

void setTargetRadius ( FloatingType radius )

inline

See also

targetRadius

update() [1/3]

template<class FType>

FType update ( )

inline

update the controller using the last input and target value

Returns

the output value for this control iteration

update() [2/3]

template<class FType>

FType update ( FloatingType inValue )

inline

update the controller using the last target value

Parameters

inValue

the current input value

Returns

the output value for this control iteration

update() [3/3]

template<class FType>

FType update ( FloatingType inValue, FloatingType target )

inline

update the controller

Parameters

inValue	the current input value
target	the controller target

Returns

the output value for this control iteration

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

• RobotAPI/components/units/RobotUnit/PDController.h