Mrm_pid Class Reference

#include <mrm-pid.h>

Public Member Functions
	Mrm_pid (float proportionalComponent, float derivativeComponent, float integrativeComponent, HardwareSerial *hardwareSerial=0)
float	calculate (float inputValue, bool verbose=false)

Detailed Description

Purpose: A simple proportional–integral–derivative controller (PID controller or three term controller).

Author

MRMS team

Version

0.1 2018-02-19 Licence: You can use this code any way you like.

Constructor & Destructor Documentation

Mrm_pid()

Mrm_pid::Mrm_pid	(	float	proportionalComponent,
		float	derivativeComponent,
		float	integrativeComponent,
		HardwareSerial *	hardwareSerial = 0
	)

Constructor

Parameters

proportionalComponent	- The bigger it is, the more will an error value correct the error.
derivativeComponent	- The bigger it is, the more will an error change correct the error.
integrativeComponent	- The bigger it is, the more will a cumulative error correct the error.
hardwareSerial	- Serial, Serial1, Serial2,... - an optional serial port, for example for Bluetooth communication

Member Function Documentation

calculate()

float Mrm_pid::calculate	(	float	valueNow,
		bool	verbose = false
	)

Calculation

Parameters

inputValue	- Input value, for example an error.
verbose	- Display to screen.

Returns

- A calculated value, for example a change in robot's direction (motors' speed) needed to correct the error.

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

• C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-pid/src/mrm-pid.h
• C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-pid/src/mrm-pid.cpp