PIDController< ValueType, TimeType > Class Template Reference

Discrete Proportional-Integral-Derivative (PID) controller. More...

#include <pidcontroller.h>

Public Types
using	CurrentTimeFunc = std::function< TimeType()>
	Callback type that returns the current time.
using	CurrentValueFunc = std::function< ValueType()>
	Callback type that returns the current measured process value.

Public Member Functions
	PIDController (CurrentValueFunc currentValueFunc, CurrentTimeFunc currentTimeFunc)
	Constructs a PID controller with the given feedback callbacks.
ValueType	getGainP () const
	Returns the proportional gain.
void	setGainP (const ValueType &val)
	Sets the proportional gain.
ValueType	getGainI () const
	Returns the integral gain.
void	setGainI (const ValueType &val)
	Sets the integral gain.
ValueType	getGainD () const
	Returns the derivative gain.
void	setGainD (const ValueType &val)
	Sets the derivative gain.
void	updateSetPoint (const ValueType &val)
	Updates the set point (target value the PID should converge on).
ValueType	step ()
	Advances the PID by one time step and returns the control output.
void	reset ()
	Resets the integral accumulator, previous error, and update timestamp.

Detailed Description

template<typename ValueType = double, typename TimeType = double>
class PIDController< ValueType, TimeType >

Discrete Proportional-Integral-Derivative (PID) controller.

Implements a standard PID control loop parameterized on value and time types. The controller requires two callbacks: one that returns the current measured value of the process variable (for closed-loop control) or the last requested output (for open-loop control), and one that returns the current time as a monotonically increasing value.

Template Parameters

ValueType	The numeric type for gains, set point, and control output (default: double).
TimeType	The numeric type for time values (default: double).

Constructor & Destructor Documentation

PIDController()

template<typename ValueType = double, typename TimeType = double>

PIDController< ValueType, TimeType >::PIDController ( CurrentValueFunc  currentValueFunc, CurrentTimeFunc  currentTimeFunc  )

inline

Constructs a PID controller with the given feedback callbacks.

Parameters

currentValueFunc	Callback returning the current process value.
currentTimeFunc	Callback returning the current time.

Member Function Documentation

setGainD()

template<typename ValueType = double, typename TimeType = double>

void PIDController< ValueType, TimeType >::setGainD ( const ValueType &  val )

inline

Sets the derivative gain.

Parameters

val	The new derivative gain value.

setGainI()

template<typename ValueType = double, typename TimeType = double>

void PIDController< ValueType, TimeType >::setGainI ( const ValueType &  val )

inline

Sets the integral gain.

Parameters

val	The new integral gain value.

setGainP()

template<typename ValueType = double, typename TimeType = double>

void PIDController< ValueType, TimeType >::setGainP ( const ValueType &  val )

inline

Sets the proportional gain.

Parameters

val	The new proportional gain value.

step()

template<typename ValueType = double, typename TimeType = double>

ValueType PIDController< ValueType, TimeType >::step ( )

inline

Advances the PID by one time step and returns the control output.

Should be called at regular intervals as frequently as possible. If called too infrequently, the controller may not respond to changes effectively.

Returns

The computed control value to apply to the controlled device.

updateSetPoint()

template<typename ValueType = double, typename TimeType = double>

void PIDController< ValueType, TimeType >::updateSetPoint ( const ValueType &  val )

inline

Updates the set point (target value the PID should converge on).

Parameters

val	The desired target value.

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

• include/promeki/core/pidcontroller.h