libstp::motion::ProfiledPIDController Class Reference

#include <profiled_pid_controller.hpp>

Classes
struct	Config

Public Types
using	State = TrapezoidalProfile::State
using	Constraints = TrapezoidalProfile::Constraints

Public Member Functions
	ProfiledPIDController (Config config, Constraints profile_constraints)
void	setGoal (double position)
void	setGoal (State goal)
State	getGoal () const
State	getSetpoint () const
const Constraints &	getConstraints () const
void	setConstraints (Constraints constraints)
void	enableContinuousInput (double min_input, double max_input)
void	disableContinuousInput ()
void	reset (double position, double velocity=0.0)
void	reset (State state)
double	calculate (double measurement, double dt)
bool	profileComplete () const

Detailed Description

PID controller whose setpoint is constrained by a trapezoidal motion profile.

Each update cycle:

1. The profile advances the setpoint toward the goal
2. PID computes tracking error (setpoint - measurement)
3. Output = velocity_ff * setpoint.velocity + PID(tracking_error)

Definition at line 20 of file profiled_pid_controller.hpp.

Member Typedef Documentation

Constraints

using libstp::motion::ProfiledPIDController::Constraints = TrapezoidalProfile::Constraints

Definition at line 24 of file profiled_pid_controller.hpp.

State

using libstp::motion::ProfiledPIDController::State = TrapezoidalProfile::State

Definition at line 23 of file profiled_pid_controller.hpp.

Constructor & Destructor Documentation

ProfiledPIDController()

libstp::motion::ProfiledPIDController::ProfiledPIDController ( Config config, Constraints profile_constraints )

inline

Definition at line 32 of file profiled_pid_controller.hpp.

Member Function Documentation

calculate()

double libstp::motion::ProfiledPIDController::calculate ( double measurement, double dt )

inline

Compute the next control output.

Parameters

measurement	Current measured position
dt	Time step (seconds)

Returns

Velocity command = velocity_ff * setpoint.velocity + PID(tracking_error)

Definition at line 71 of file profiled_pid_controller.hpp.

disableContinuousInput()

void libstp::motion::ProfiledPIDController::disableContinuousInput ( )

inline

Definition at line 54 of file profiled_pid_controller.hpp.

enableContinuousInput()

void libstp::motion::ProfiledPIDController::enableContinuousInput ( double min_input, double max_input )

inline

Definition at line 47 of file profiled_pid_controller.hpp.

getConstraints()

const Constraints & libstp::motion::ProfiledPIDController::getConstraints ( ) const

inlinenodiscard

Definition at line 43 of file profiled_pid_controller.hpp.

getGoal()

State libstp::motion::ProfiledPIDController::getGoal ( ) const

inlinenodiscard

Definition at line 41 of file profiled_pid_controller.hpp.

getSetpoint()

State libstp::motion::ProfiledPIDController::getSetpoint ( ) const

inlinenodiscard

Definition at line 42 of file profiled_pid_controller.hpp.

profileComplete()

bool libstp::motion::ProfiledPIDController::profileComplete ( ) const

inlinenodiscard

Check if the profile's setpoint has reached the goal.

Definition at line 110 of file profiled_pid_controller.hpp.

reset() [1/2]

void libstp::motion::ProfiledPIDController::reset ( double position, double velocity = 0.0 )

inline

Definition at line 56 of file profiled_pid_controller.hpp.

reset() [2/2]

void libstp::motion::ProfiledPIDController::reset ( State state )

inline

Definition at line 62 of file profiled_pid_controller.hpp.

setConstraints()

void libstp::motion::ProfiledPIDController::setConstraints ( Constraints constraints )

inline

Definition at line 45 of file profiled_pid_controller.hpp.

setGoal() [1/2]

void libstp::motion::ProfiledPIDController::setGoal ( double position )

inline

Definition at line 39 of file profiled_pid_controller.hpp.

setGoal() [2/2]

void libstp::motion::ProfiledPIDController::setGoal ( State goal )

inline

Definition at line 40 of file profiled_pid_controller.hpp.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-motion/include/motion/profiled_pid_controller.hpp