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OutputPID Class Reference

#include <OutputPID.h>

List of all members.

Detailed Description

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

Definition at line 6 of file OutputPID.h.

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, 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]

Constructor & Destructor Documentation

OutputPID::OutputPID (  )  [inline]

Constructor.

Definition at line 8 of file OutputPID.h.

OutputPID::OutputPID ( const float  p[3]  )  [inline]

Constructor, allows non-explicit conversion.

Definition at line 9 of file OutputPID.h.

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

Constructor.

Definition at line 10 of file OutputPID.h.

OutputPID::OutputPID ( const float  p,
const float  i,
const float  d,
float  w 
) [inline]

Constructor.

Definition at line 11 of file OutputPID.h.

OutputPID::OutputPID ( const OutputPID &  a,
const OutputPID &  b,
float  w 
) [inline]

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

Definition at line 12 of file OutputPID.h.

Member Function Documentation

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

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

Definition at line 18 of file OutputPID.h.

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

sets the value to v and weight to w

Definition at line 15 of file OutputPID.h.

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

sets the value to v and weight to w

Definition at line 14 of file OutputPID.h.

Referenced by OutputPID().

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

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

Definition at line 37 of file OutputPID.h.

void OutputPID::set_pid ( const float  p[3]  )  [inline, protected]

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

Definition at line 31 of file OutputPID.h.

Referenced by OutputPID(), and set().

void OutputPID::unset (  )  [inline]

sets value and weight to 0

Definition at line 24 of file OutputPID.h.

Member Data Documentation

float OutputPID::pid[3]

pid value of the output

Definition at line 26 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 27 of file OutputPID.h.

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

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

Tekkotsu v3.0
 		Generated Wed Oct 4 00:05:09 2006 by Doxygen 1.4.7