MHV_PID Class Reference

#include <MHV_PID.h>

List of all members.

Public Member Functions
	MHV_PID (float setpoint, float kP, float kI, float kD, uint16_t period, bool reverse, uint16_t min, uint16_t max)
void	setDirection (bool reverse)
void	enable (bool enable)
float	compute (float input)
void	setTuning (float kP, float kI, float kD, uint16_t period)
void	setOutputLimits (float, float)
Protected Member Functions
void	clampIntegral ()
Protected Attributes
float	_kP
float	_kI
float	_kD
bool	_reverse
bool	_enabled
float	_setpoint
float	_integral
float	_lastInput
float	_lastOutput
float	outMin
float	outMax

---

Detailed Description

Definition at line 38 of file MHV_PID.h.

---

Constructor & Destructor Documentation

MHV_PID::MHV_PID	(	float	setpoint,
		float	kP,
		float	kI,
		float	kD,
		uint16_t	period,
		bool	reverse,
		uint16_t	min,
		uint16_t	max
	)

Create a new PID

Parameters:

setpoint	the target value
kP	the proportional constant
kI	the integral constant
kD	the derivative constant
period	the period that compute() is called, in ms
reverse	true if there is an inverse relationship between the output and the input (eg. running a cooler to reduce temperature)
min	the minimum value for output
max	the maximum value four output

Definition at line 46 of file MHV_PID.cpp.

---

Member Function Documentation

void MHV_PID::clampIntegral

(

)

[inline, protected]

Definition at line 57 of file MHV_PID.cpp.

float MHV_PID::compute

(

float

input

)

Calculate the next output

Parameters:

input

the latest sample

Definition at line 69 of file MHV_PID.cpp.

void MHV_PID::enable

(

bool

enable

)

Enable/Disable the PID

Parameters:

enable

true to enable the pid

Definition at line 129 of file MHV_PID.cpp.

void MHV_PID::setDirection

(

bool

reverse

)

Set the direction for the PID.

Setting reverse means that increasing output reduces the input (eg. increasing power to a cooler, with the input being temperature)

Definition at line 145 of file MHV_PID.cpp.

void MHV_PID::setOutputLimits	(	float	min,
		float	max
	)

Alter the minimum & maximum values for the output

Parameters:

min	the new minimum output value
max	the new maximum output value

Definition at line 117 of file MHV_PID.cpp.

void MHV_PID::setTuning	(	float	kP,
		float	kI,
		float	kD,
		uint16_t	period
	)

Adjust PID parameters

Parameters:

kP	the proportional constant
kI	the integral constant
kD	the derivative constant
period	the period that compute() is called, in ms

Definition at line 97 of file MHV_PID.cpp.

---

Member Data Documentation

bool MHV_PID::_enabled [protected]

Definition at line 45 of file MHV_PID.h.

float MHV_PID::_integral [protected]

Definition at line 48 of file MHV_PID.h.

float MHV_PID::_kD [protected]

Definition at line 42 of file MHV_PID.h.

float MHV_PID::_kI [protected]

Definition at line 41 of file MHV_PID.h.

float MHV_PID::_kP [protected]

Definition at line 40 of file MHV_PID.h.

float MHV_PID::_lastInput [protected]

Definition at line 49 of file MHV_PID.h.

float MHV_PID::_lastOutput [protected]

Definition at line 50 of file MHV_PID.h.

bool MHV_PID::_reverse [protected]

Definition at line 44 of file MHV_PID.h.

float MHV_PID::_setpoint [protected]

Definition at line 47 of file MHV_PID.h.

float MHV_PID::outMax [protected]

Definition at line 53 of file MHV_PID.h.

float MHV_PID::outMin [protected]

Definition at line 52 of file MHV_PID.h.

---

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

• A:/eclipse/mhvlib/MHV_PID.h
• A:/eclipse/mhvlib/MHV_PID.cpp