OutputPID Class Reference

This object holds all the information needed to control a single output. More...

#include <OutputPID.h>

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Detailed Description

This object holds all the information needed to control a single output.

Definition at line 6 of file OutputPID.h.

List of all members.

Public Member Functions
	OutputPID ()
	Constructor.
	OutputPID (const float p[3])
	Constructor, allows non-explicit conversion.
	OutputPID (const float p[3], float w)
	Constructor.
	OutputPID (const float p, const float i, const float d)
	Constructor.
	OutputPID (const float p, const float i, const float d, float w)
	Constructor.
	OutputPID (const OutputPID &a, const OutputPID &b, float w)
	Constructor, see set(a,b,w).
void	set (const float p[3], float w=1)
	sets the value to v and weight to w
void	set (const float p, const float i, const float d, float w=1)
	sets the value to v and weight to w
void	set (const OutputPID &a, const OutputPID &b, float w)
	sets the value to a weighted average of a and b (higher w, more a)
void	unset ()
	sets value and weight to 0
Public Attributes
float	pid [3]
	pid value of the output
float	weight
	weight to be used in averaging, 0 to "fall through"
Protected Member Functions
void	set_pid (const float p[3])
	handy utility function, sets pid[0:2] to p[0:2]
void	set_pid (const float p, const float i, const float d)
	handy utility function, sets pid[0:2] to [p,i,d]

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Constructor & Destructor Documentation

OutputPID::OutputPID

(

)

Constructor.

Definition at line 8 of file OutputPID.h.

OutputPID::OutputPID

(

const float

p[3]

)

Constructor, allows non-explicit conversion.

Definition at line 9 of file OutputPID.h.

OutputPID::OutputPID	(	const float	p[3],
		float	w
	)

Constructor.

Definition at line 10 of file OutputPID.h.

OutputPID::OutputPID	(	const float	p,
		const float	i,
		const float	d
	)

Constructor.

Definition at line 11 of file OutputPID.h.

OutputPID::OutputPID	(	const float	p,
		const float	i,
		const float	d,
		float	w
	)

Constructor.

Definition at line 12 of file OutputPID.h.

OutputPID::OutputPID	(	const OutputPID &	a,
		const OutputPID &	b,
		float	w
	)

Constructor, see set(a,b,w).

Definition at line 13 of file OutputPID.h.

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Member Function Documentation

void OutputPID::set	(	const OutputPID &	a,
		const OutputPID &	b,
		float	w
	)

sets the value to a weighted average of a and b (higher w, more a)

Definition at line 19 of file OutputPID.h.

void OutputPID::set	(	const float	p,
		const float	i,
		const float	d,
		float	w = 1
	)

sets the value to v and weight to w

Definition at line 16 of file OutputPID.h.

void OutputPID::set	(	const float	p[3],
		float	w = 1
	)

sets the value to v and weight to w

Definition at line 15 of file OutputPID.h.

void OutputPID::set_pid	(	const float	p,
		const float	i,
		const float	d
	)			[protected]

handy utility function, sets pid[0:2] to [p,i,d]

Definition at line 38 of file OutputPID.h.

void OutputPID::set_pid

(

const float

p[3]

)

[protected]

handy utility function, sets pid[0:2] to p[0:2]

Definition at line 32 of file OutputPID.h.

Referenced by OutputPID(), and set().

void OutputPID::unset

(

)

sets value and weight to 0

Definition at line 25 of file OutputPID.h.

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Member Data Documentation

float OutputPID::pid[3]

pid value of the output

Definition at line 27 of file OutputPID.h.

Referenced by OutputPID(), set(), set_pid(), and MotionManager::setOutput().

float OutputPID::weight

weight to be used in averaging, 0 to "fall through"

Definition at line 28 of file OutputPID.h.

Referenced by set(), PIDMC::setAllPowerLevel(), PIDMC::setJointPowerLevel(), PIDMC::setRangePowerLevel(), and unset().

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

• OutputPID.h