PID Class Reference

#include <PID.h>

List of all members.

Public Member Functions
	PID (float p, float i, float d, float max_pwm, int actual)
	~PID (void)
float	CalcPWM (int desired, int actual)

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Detailed Description

Class implements a PID Control Loop.

On each "iteration" with new PID control values, call the CalcPWM() method

Implementation is currently incomplete -- does not yet have an implementation for "integral" control. (i.e. current this is just a PD control loop)

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Constructor & Destructor Documentation

PID::PID	(	float	p,
		float	i,
		float	d,
		float	max_pwm,
		int	actual
	)

Allocate a PID object with the given constants for P, I, D, and max_power

PID::~PID

(

void

)

Free the PID object

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Member Function Documentation

float PID::CalcPWM	(	int	desired,
		int	actual
	)

Calculate a PWM value for the motor given the current sensor info.

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

• C:/WindRiver/workspace/WPILib/PID.h
• C:/WindRiver/workspace/WPILib/PID.cpp