pid.cpp File Reference

#include "stdafx.h"
#include "pid.h"
#include <math.h>
#include <stdlib.h>

Go to the source code of this file.

Functions
control_state *	init_state (double p, double i, double d, double f, double out_filter, double gain, double dead_zone, double sat_low, double sat_high)
void	set_integrator_cap (control_state *state, double cap)
void	set_integrator_kill (control_state *state, double kill)
void	set_input_filter (control_state *state, double f)
void	set_rate_limiter (control_state *state, double max_change)
void	set_dc (control_state *state, double dc)
double	clip (double x, double a, double b)
void	set_integrator_decay (control_state *state, double max, double decay, double max_decay)
double	control (control_state *state, double x, double target)
void	set_soft_saturation (control_state *state, double scale)
void	reset_state (control_state *state)

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Function Documentation

double clip	(	double	x,
		double	a,
		double	b
	)

Definition at line 135 of file pid.cpp.

double control	(	control_state *	state,
		double	x,
		double	target
	)

Definition at line 157 of file pid.cpp.

control_state* init_state	(	double	p,
		double	i,
		double	d,
		double	f,
		double	out_filter,
		double	gain,
		double	dead_zone,
		double	sat_low,
		double	sat_high
	)

Definition at line 66 of file pid.cpp.

void reset_state

(

control_state *

state

)

Definition at line 242 of file pid.cpp.

void set_dc	(	control_state *	state,
		double	dc
	)

Definition at line 129 of file pid.cpp.

void set_input_filter	(	control_state *	state,
		double	f
	)

Definition at line 115 of file pid.cpp.

void set_integrator_cap	(	control_state *	state,
		double	cap
	)

Definition at line 103 of file pid.cpp.

void set_integrator_decay	(	control_state *	state,
		double	max,
		double	decay,
		double	max_decay
	)

Definition at line 149 of file pid.cpp.

void set_integrator_kill	(	control_state *	state,
		double	kill
	)

Definition at line 108 of file pid.cpp.

void set_rate_limiter	(	control_state *	state,
		double	max_change
	)

Definition at line 122 of file pid.cpp.

void set_soft_saturation	(	control_state *	state,
		double	scale
	)

Definition at line 230 of file pid.cpp.

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