otPID Class Reference
[PID - A proportional integral derivative controller, PID - A proportional integral derivative controller]

PID control library. More...

#include <otPID.h>

Public Types
enum	Controls { DIRECT = 0, REVERSE = 1 }
Public Member Functions
	otPID ()
void	begin (F32 *Input, F32 *Output, F32 *Setpoint, F32 Kp, F32 Ki, F32 Kd, int ControllerDirection, U32 tickCounts)
bool	compute (U32 tickCounts)
void	setOutputLimits (F32 minValue, F32 maxValue)
void	setTunings (F32 Kp, F32 Ki, F32 Kd)
void	setControllerDirection (int Direction)
void	setSampleTime (int NewSampleTime)
F32	getKp ()
F32	getKi ()
F32	getKd ()
int	getDirection ()

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Detailed Description

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Member Enumeration Documentation

enum otPID::Controls

Enumeration values: DIRECT  DIRECT means the output will increase when error is positive. REVERSE  REVERSE means the output will decrease when error is positive.

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Constructor & Destructor Documentation

otPID.otPID (   )

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Member Function Documentation

void otPID.begin (  F32 *  Input, F32 *  Output, F32 *  Setpoint, F32  Kp, F32  Ki, F32  Kd, int  ControllerDirection, U32  tickCounts )

Initialize the library, links the PID to the Input, Output, and Setpoint. Initial tuning parameters are also set here. Parameters: Input  Input value of the PID. This value comes from the feedback sensor or other input. Output  Output from PID compute. This value represents the input to be used in the actuator that regulates the feedback process. Setpoint  This is the value you want to have at the equilibrium point. Kp  Proportional coefficient Ki  Integral coefficient Kd  Derevative coefficient ControllerDirection  Use DIRECT for +Output leads to +Input or REVERSE for +Output leads to -Input. tickCounts  System ticks as ms

bool otPID.compute (  U32  tickCounts  )

This, as they say, is where the magic happens. Parameters: tickCounts  System ticks as ms Returns: true When the output is computed

int otPID.getDirection (   )

Return the controller direction

F32 otPID.getKd (   )

Return derevative coefficient

F32 otPID.getKi (   )

Return integral coefficient

F32 otPID.getKp (   )

Return proportional coefficient

void otPID.setControllerDirection (  int  Direction  )

Sets the Direction, or "Action" of the controller. Parameters: Direction  DIRECT means the output will increase when error is positive. REVERSE means the opposite.

void otPID.setOutputLimits (  F32  minValue, F32  maxValue )

Clamps the output to a specific range. 0-255 by default, but it's likely the user will want to change this depending on the application Parameters: minValue  Minimum value accepted by the actuator that regulates the feedback process. maxValue  Maximum value accepted by the actuator that regulates the feedback process.

void otPID.setSampleTime (  int  NewSampleTime  )

Sets the frequency, in Milliseconds, with which the PID calculation is performed. Default is 100. Parameters: NewSampleTime  Sample time as ms.

void otPID.setTunings (  F32  Kp, F32  Ki, F32  Kd )

This function allows the controller's dynamic performance to be adjusted. Parameters: Kp  Proportional coefficient Ki  Integral coefficient Kd  Derevative coefficient

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

• otPID.h

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