PIDController Class Reference

PID Controller class for sensor fusion and motor controls when driving to and near an object. More...

#include <pidController.h>

Public Member Functions
	PIDController (float kp, float ki, float kd)
	Constructor Fucntion for PID Controller Class.
void	reset ()
	Resets Values of PID.
void	setTunings (float kp, float ki, float kd)
	Function sets the tuning variables for the PID Controller.
float	update (float error, float dt)
	Function updates the PID based on the new error values and adjusts.

Private Attributes
float	Kp
float	Ki
float	Kd
float	prevError
float	integral

Detailed Description

PID Controller class for sensor fusion and motor controls when driving to and near an object.

Constructor & Destructor Documentation

PIDController()

PIDController::PIDController	(	float	kp,
		float	ki,
		float	kd )

Constructor Fucntion for PID Controller Class.

Member Function Documentation

reset()

void PIDController::reset

(

)

Resets Values of PID.

Returns

None

setTunings()

void PIDController::setTunings	(	float	kp,
		float	ki,
		float	kd )

Function sets the tuning variables for the PID Controller.

Returns

None

update()

float PIDController::update	(	float	error,
		float	dt )

Function updates the PID based on the new error values and adjusts.

Returns

None

Member Data Documentation

integral

float PIDController::integral

private

Kd

float PIDController::Kd

private

Ki

float PIDController::Ki

private

Kp

float PIDController::Kp

private

prevError

float PIDController::prevError

private

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

• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/Inc/pidController.h
• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/src/pidController.cpp