PositionPid

A discrete position PID controller.

Implemented internally using floating point to simplify the code. Change to fixed point precision if so desired.

@safe

struct PositionPid {

this(double Kp, double Ki, double Kd);

void input(double pv);

double output();

void setSv(double x);

double getSv();

void setKp(double x);

void setKi(double x);

void setKd(double x);

void setKd(LowPassFilter lp);

void setIntegralClamp(double low, double high);

void setOutputClamp(double low, double high);

void reset();

import std.range : isOutputRange;;

string toString();

void toString(Writer w);

}

Constructors

this this(double Kp, double Ki, double Kd)

Members

Functions

getSv double getSv(): Undocumented in source. Be warned that the author may not have intended to support it.
input void input(double pv): Uses the input values to adjust the output.
output double output()
reset void reset(): Resets the controllers state to initial.
setIntegralClamp void setIntegralClamp(double low, double high): Clamps the integration to the range [low, high].
setKd void setKd(double x): Derivative gain.
setKd void setKd(LowPassFilter lp): Undocumented in source. Be warned that the author may not have intended to support it.
setKi void setKi(double x): Integral gain.
setKp void setKp(double x): Proportional gain.
setOutputClamp void setOutputClamp(double low, double high): Clamps the PID control output to the range [low, high].
setSv void setSv(double x): Set value.
toString string toString(): Undocumented in source. Be warned that the author may not have intended to support it.
toString void toString(Writer w): Undocumented in source. Be warned that the author may not have intended to support it.

Meta

Source

See Implementation

my signal_theory pid structs