PID::pid_config_t Struct Reference

#include <pid.h>

Public Attributes
double	p
	proportional coeffecient p * error()
double	i
	integral coeffecient i * integral(error)
double	d
	derivitave coeffecient d * derivative(error)
double	deadband
	at what threshold are we close enough to be finished
double	on_target_time
ERROR_TYPE	error_method

Detailed Description

pid_config_t holds the configuration parameters for a pid controller In addtion to the constant of proportional, integral and derivative, these parameters include:

• deadband -
• on_target_time - for how long do we have to be at the target to stop As well, pid_config_t holds an error type which determines whether errors should be calculated as if the sensor position is a measure of distance or an angle

Member Data Documentation

error_method

ERROR_TYPE PID::pid_config_t::error_method

Linear or angular. wheter to do error as a simple subtraction or to wrap

on_target_time

double PID::pid_config_t::on_target_time

the time in seconds that we have to be on target for to say we are officially at the target

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

• pid.h