PIDImpl Class Reference

Public Member Functions
	PIDImpl (double dt, double max, double min, double Kp, double Kd, double Ki)
	~PIDImpl ()
double	calculate (double setpoint, double pv)

Constructor & Destructor Documentation

PIDImpl::PIDImpl	(	double	dt,
		double	max,
		double	min,
		double	Kp,
		double	Kd,
		double	Ki
	)

Implementation

        :
        _dt( dt ),
        _max( max ),
        _min( min ),
        _Kp( Kp ),
        _Kd( Kd ),
        _Ki( Ki ),
        _pre_error( 0 ),
        _integral( 0 )
{
}

PIDImpl::~PIDImpl

(

)

{
}

Member Function Documentation

double PIDImpl::calculate	(	double	setpoint,
		double	pv
	)

{

    // Calculate error
    double error = setpoint - pv;

    // Proportional term
    double Pout = _Kp * error;

    // Integral term
    _integral += error * _dt;
    double Iout = _Ki * _integral;

    // Derivative term
    double derivative = ( error - _pre_error ) / _dt;
    double Dout = _Kd * derivative;

    // Calculate total output
    double output = Pout + Iout + Dout;

    // Restrict to max/min
    if ( output > _max )
        output = _max;
    else if ( output < _min )
        output = _min;

    // Save error to previous error
    _pre_error = error;

    return output;
}

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

• /Users/michaelbrookes/ClionProjects/Quadro/lib/external/PID.cpp