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oPID Class Reference

A baisc method to implement a controller proportion-(integral)-derivative algorithm. More...

#include <opid.h>

Public Member Functions
	oPID (void)
	oPID (float cv)
float	value (float target_value)
int	value (int target_value)
void	PID (float P, float I, float D)
	sets the Proportional/Derivative multiplication factors.
void	center (float target_center)
	adjusts PID around a fixed center value.
Private Member Functions
FIXED_POINT	_value (FIXED_POINT target_value)
Private Attributes
FIXED_POINT	_lastvalue
FIXED_POINT	_target_center
FIXED_POINT	_proportional
FIXED_POINT	_integral
FIXED_POINT	_derivative

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Detailed Description

A baisc method to implement a controller proportion-(integral)-derivative algorithm.

Current implementation only uses proportional and derivative.

Operation

Remarks

Note: all external accesses or with either basic types--int or float, but internally everything is fixed point math. thus no value should be expected to exceed 32767. Also, if you pass an integer value it returns an integer value, but if you pass a float it returns a float value.

Sample Code

#include <opid.h>
int main()
{
 TBD
}

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Constructor & Destructor Documentation

oPID (  void   )

oPID (  float  cv  )

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Member Function Documentation

FIXED_POINT _value (  FIXED_POINT  target_value  )  [private]

void center (  float  target_center  )

adjusts PID around a fixed center value.

void PID (  float  P, float  I, float  D )

sets the Proportional/Derivative multiplication factors.

int value (  int  target_value  )

float value (  float  target_value  )

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Field Documentation

FIXED_POINT _derivative [private]

FIXED_POINT _integral [private]

FIXED_POINT _lastvalue [private]

FIXED_POINT _proportional [private]

FIXED_POINT _target_center [private]

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