yarp::dev::Pid Class Reference

Contains the parameters for a PID. More...

#include <yarp/dev/ControlBoardPid.h>

Public Member Functions
	Pid ()
	Default Constructor.
	~Pid ()
	Destructor.
	Pid (double kp, double kd, double ki, double int_max, double scale, double out_max)
	Basic constructor.
	Pid (double kp, double kd, double ki, double int_max, double scale, double out_max, double st_up, double st_down, double kff)
	Advanced constructor.
void	setKp (double p)
	Set proportional gain.
void	setKi (double i)
	Set integrative gain.
void	setKd (double d)
	Set derivative gain.
void	setMaxInt (double m)
	Set max threshold for the integrative part.
void	setScale (double sc)
	Set output scale for the pid.
void	setMaxOut (double m)
	Set max output value for the pid.
void	setOffset (double o)
	Set offset value for the pid.
void	setStictionValues (double up_value, double down_value)
	Set the two stiction values for the pid.
void	setKff (double Kff)
	Set the feedforward gain for the pid.
bool	operator== (const yarp::dev::Pid &p) const
	return true if all params are equal
void	clear ()
	Set all pid parameters to zero.

Public Attributes
double	kp
	proportional gain
double	kd
	derivative gain
double	ki
	integrative gain
double	max_int
	saturation threshold for the integrator
double	scale
	scale for the pid output
double	max_output
	max output
double	offset
	pwm offset added to the pid output
double	stiction_up_val
	up stiction offset added to the pid output
double	stiction_down_val
	down stiction offset added to the pid output
double	kff
	feedforward gain

Detailed Description

Contains the parameters for a PID.

Definition at line 23 of file ControlBoardPid.h.

Constructor & Destructor Documentation

Pid() [1/3]

Pid::Pid

(

)

Default Constructor.

Definition at line 41 of file ControlBoardPid.cpp.

~Pid()

Pid::~Pid ( )

default

Destructor.

Pid() [2/3]

Pid::Pid	(	double	kp,
		double	kd,
		double	ki,
		double	int_max,
		double	scale,
		double	out_max
	)

Basic constructor.

Parameters

kp	proportional gain
kd	derivative gain
ki	integrative gain
int_max	integrator max output
scale	scaling factor
out_max	cap on output

Definition at line 11 of file ControlBoardPid.cpp.

Pid() [3/3]

Pid::Pid	(	double	kp,
		double	kd,
		double	ki,
		double	int_max,
		double	scale,
		double	out_max,
		double	st_up,
		double	st_down,
		double	kff
	)

Advanced constructor.

Parameters

kp	proportional gain
kd	derivative gain
ki	integrative gain
int_max	integrator max output
scale	scaling factor
out_max	cap on output
st_up	up stiction offset
st_down	down stiction offset
kff	feedforward gain

Definition at line 25 of file ControlBoardPid.cpp.

Member Function Documentation

clear()

void Pid::clear

(

)

Set all pid parameters to zero.

Definition at line 46 of file ControlBoardPid.cpp.

operator==()

bool Pid::operator==

(

const yarp::dev::Pid &

p

)

const

return true if all params are equal

Parameters

p	pid to be compared

Definition at line 106 of file ControlBoardPid.cpp.

setKd()

void Pid::setKd

(

double

d

)

Set derivative gain.

Parameters

d

new gain

Definition at line 70 of file ControlBoardPid.cpp.

setKff()

void Pid::setKff

(

double

Kff

)

Set the feedforward gain for the pid.

Parameters

Kff

new gain

Definition at line 101 of file ControlBoardPid.cpp.

setKi()

void Pid::setKi

(

double

i

)

Set integrative gain.

Parameters

i

new gain

Definition at line 65 of file ControlBoardPid.cpp.

setKp()

void Pid::setKp

(

double

p

)

Set proportional gain.

Parameters

p

new gain

Definition at line 60 of file ControlBoardPid.cpp.

setMaxInt()

void Pid::setMaxInt

(

double

m

)

Set max threshold for the integrative part.

Parameters

m

new max

Definition at line 75 of file ControlBoardPid.cpp.

setMaxOut()

void Pid::setMaxOut

(

double

m

)

Set max output value for the pid.

Parameters

m

new value

Definition at line 85 of file ControlBoardPid.cpp.

setOffset()

void Pid::setOffset

(

double

o

)

Set offset value for the pid.

Parameters

o	new offset value

Definition at line 90 of file ControlBoardPid.cpp.

setScale()

void Pid::setScale

(

double

sc

)

Set output scale for the pid.

Parameters

sc	scale value

Definition at line 80 of file ControlBoardPid.cpp.

setStictionValues()

void Pid::setStictionValues	(	double	up_value,
		double	down_value
	)

Set the two stiction values for the pid.

Parameters

up_value	the new up value
down_value	the new down value

Definition at line 95 of file ControlBoardPid.cpp.

Member Data Documentation

kd

double yarp::dev::Pid::kd

derivative gain

Definition at line 27 of file ControlBoardPid.h.

kff

double yarp::dev::Pid::kff

feedforward gain

Definition at line 35 of file ControlBoardPid.h.

ki

double yarp::dev::Pid::ki

integrative gain

Definition at line 28 of file ControlBoardPid.h.

kp

double yarp::dev::Pid::kp

proportional gain

Definition at line 26 of file ControlBoardPid.h.

max_int

double yarp::dev::Pid::max_int

saturation threshold for the integrator

Definition at line 29 of file ControlBoardPid.h.

max_output

double yarp::dev::Pid::max_output

max output

Definition at line 31 of file ControlBoardPid.h.

offset

double yarp::dev::Pid::offset

pwm offset added to the pid output

Definition at line 32 of file ControlBoardPid.h.

scale

double yarp::dev::Pid::scale

scale for the pid output

Definition at line 30 of file ControlBoardPid.h.

stiction_down_val

double yarp::dev::Pid::stiction_down_val

down stiction offset added to the pid output

Definition at line 34 of file ControlBoardPid.h.

stiction_up_val

double yarp::dev::Pid::stiction_up_val

up stiction offset added to the pid output

Definition at line 33 of file ControlBoardPid.h.

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

• src/libYARP_dev/src/yarp/dev/ControlBoardPid.h
• src/libYARP_dev/src/yarp/dev/ControlBoardPid.cpp