tgPIDController::Config Struct Reference

Public Member Functions
	Config (double p=1.0, double i=0.0, double d=0.0, bool tensControl=false, double setPoint=0.0)

Public Attributes
const double	kP
const double	kI
const double	kD
const double	startingSetPoint

Detailed Description

Definition at line 45 of file tgPIDController.h.

Constructor & Destructor Documentation

tgPIDController::Config::Config	(	double	p = 1.0,
		double	i = 0.0,
		double	d = 0.0,
		bool	tensControl = false,
		double	setPoint = 0.0
	)

The config's constructor

Parameters

[in]	p,the	position gain
[in]	i,the	velocity gain
[in]	d,the	derivative gain
[in]	tensControl,whether	or not this PID controller will be used in tension control,
[in]	setPoint,the	initial setpoint

Definition at line 36 of file tgPIDController.cpp.

Member Data Documentation

const double tgPIDController::Config::kD

The derivative gain of the PID controller. Initial value must be nonnegative Use a negative gain for tension control! (set tensControl to true) Units are applicaiton dependant

Definition at line 84 of file tgPIDController.h.

const double tgPIDController::Config::kI

The integral gain of the PID controller. Initial value must be nonnegative Use a negative gain for tension control! (set tensControl to true) Units are applicaiton dependant

Definition at line 76 of file tgPIDController.h.

const double tgPIDController::Config::kP

The position gain of the PID controller. Initial value must be nonnegative Use a negative gain for tension control! (set tensControl to true) Units are applicaiton dependant

Definition at line 68 of file tgPIDController.h.

const double tgPIDController::Config::startingSetPoint

The initial setpoint for the controller. Sets the value for m_setPoint

Definition at line 90 of file tgPIDController.h.

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

• controllers/tgPIDController.h
• controllers/tgPIDController.cpp