libstp::foundation::PidController Class Reference

Stateful PID controller with integral clamping and a low-pass filtered derivative term. More...

#include <pid.hpp>

Public Member Functions
	PidController (PidConfig config={})
double	update (double error, double dt)
	Update the controller using error for both the proportional and derivative signals.
double	update (double error, double dt, double deriv_signal)
void	reset ()
	Clear accumulated integral and derivative state.
void	setGains (double kp, double ki, double kd)
	Replace only the proportional, integral, and derivative gains.
double	getIntegral () const
double	getDerivative () const

Detailed Description

Stateful PID controller with integral clamping and a low-pass filtered derivative term.

Definition at line 68 of file pid.hpp.

Constructor & Destructor Documentation

PidController()

libstp::foundation::PidController::PidController ( PidConfig config = {} )

explicit

Member Function Documentation

getDerivative()

double libstp::foundation::PidController::getDerivative ( ) const

inlinenodiscard

Definition at line 89 of file pid.hpp.

getIntegral()

double libstp::foundation::PidController::getIntegral ( ) const

inlinenodiscard

Definition at line 88 of file pid.hpp.

reset()

void libstp::foundation::PidController::reset

(

)

Clear accumulated integral and derivative state.

setGains()

void libstp::foundation::PidController::setGains	(	double	kp,
		double	ki,
		double	kd )

Replace only the proportional, integral, and derivative gains.

update() [1/2]

double libstp::foundation::PidController::update	(	double	error,
		double	dt )

Update the controller using error for both the proportional and derivative signals.

update() [2/2]

double libstp::foundation::PidController::update	(	double	error,
		double	dt,
		double	deriv_signal )

Update with separate derivative signal (derivative-on-measurement). P and I terms use error, D term uses deriv_signal.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-foundation/include/foundation/pid.hpp