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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,theposition gain
[in]i,thevelocity gain
[in]d,thederivative gain
[in]tensControl,whetheror not this PID controller will be used in tension control,
[in]setPoint,theinitial 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.


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