Implements a PID control loop. More...

#include <frc/controller/PIDController.h>

Inheritance diagram for frc::PIDController:

Public Member Functions
	PIDController (double Kp, double Ki, double Kd, units::second_t period=20_ms)
	Allocates a PIDController with the given constants for Kp, Ki, and Kd. More...

	~PIDController () override=default

	PIDController (const PIDController &)=default

PIDController &	operator= (const PIDController &)=default

	PIDController (PIDController &&)=default

PIDController &	operator= (PIDController &&)=default

void	SetPID (double Kp, double Ki, double Kd)
	Sets the PID Controller gain parameters. More...

void	SetP (double Kp)
	Sets the proportional coefficient of the PID controller gain. More...

void	SetI (double Ki)
	Sets the integral coefficient of the PID controller gain. More...

void	SetD (double Kd)
	Sets the differential coefficient of the PID controller gain. More...

void	SetIZone (double iZone)
	Sets the IZone range. More...

double	GetP () const
	Gets the proportional coefficient. More...

double	GetI () const
	Gets the integral coefficient. More...

double	GetD () const
	Gets the differential coefficient. More...

double	GetIZone () const
	Get the IZone range. More...

units::second_t	GetPeriod () const
	Gets the period of this controller. More...

double	GetPositionTolerance () const
	Gets the position tolerance of this controller. More...

double	GetVelocityTolerance () const
	Gets the velocity tolerance of this controller. More...

void	SetSetpoint (double setpoint)
	Sets the setpoint for the PIDController. More...

double	GetSetpoint () const
	Returns the current setpoint of the PIDController. More...

bool	AtSetpoint () const
	Returns true if the error is within the tolerance of the setpoint. More...

void	EnableContinuousInput (double minimumInput, double maximumInput)
	Enables continuous input. More...

void	DisableContinuousInput ()
	Disables continuous input. More...

bool	IsContinuousInputEnabled () const
	Returns true if continuous input is enabled. More...

void	SetIntegratorRange (double minimumIntegral, double maximumIntegral)
	Sets the minimum and maximum values for the integrator. More...

void	SetTolerance (double positionTolerance, double velocityTolerance=std::numeric_limits< double >::infinity())
	Sets the error which is considered tolerable for use with AtSetpoint(). More...

double	GetPositionError () const
	Returns the difference between the setpoint and the measurement. More...

double	GetVelocityError () const
	Returns the velocity error. More...

double	Calculate (double measurement)
	Returns the next output of the PID controller. More...

double	Calculate (double measurement, double setpoint)
	Returns the next output of the PID controller. More...

void	Reset ()
	Reset the previous error, the integral term, and disable the controller. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< PIDController >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< PIDController >
	SendableHelper ()=default

	~SendableHelper ()

Detailed Description

Implements a PID control loop.

Constructor & Destructor Documentation

◆ PIDController() [1/3]

frc::PIDController::PIDController	(	double	Kp,
		double	Ki,
		double	Kd,
		units::second_t	period = `20_ms`
	)

Allocates a PIDController with the given constants for Kp, Ki, and Kd.

Parameters

Kp	The proportional coefficient.
Ki	The integral coefficient.
Kd	The derivative coefficient.
period	The period between controller updates in seconds. The default is 20 milliseconds. Must be non-zero and positive.

◆ ~PIDController()

frc::PIDController::~PIDController ( )

overridedefault

◆ PIDController() [2/3]

frc::PIDController::PIDController ( const PIDController & )

default

◆ PIDController() [3/3]

frc::PIDController::PIDController ( PIDController && )

default

Member Function Documentation

◆ AtSetpoint()

bool frc::PIDController::AtSetpoint ( ) const

Returns true if the error is within the tolerance of the setpoint.

This will return false until at least one input value has been computed.

◆ Calculate() [1/2]

double frc::PIDController::Calculate ( double measurement )

Returns the next output of the PID controller.

Parameters

measurement The current measurement of the process variable.

◆ Calculate() [2/2]

double frc::PIDController::Calculate	(	double	measurement,
		double	setpoint
	)

Returns the next output of the PID controller.

Parameters

measurement	The current measurement of the process variable.
setpoint	The new setpoint of the controller.

◆ DisableContinuousInput()

void frc::PIDController::DisableContinuousInput ( )

Disables continuous input.

◆ EnableContinuousInput()

void frc::PIDController::EnableContinuousInput	(	double	minimumInput,
		double	maximumInput
	)

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters

minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

◆ GetD()

double frc::PIDController::GetD ( ) const

Gets the differential coefficient.

Returns: differential coefficient

◆ GetI()

double frc::PIDController::GetI ( ) const

Gets the integral coefficient.

Returns: integral coefficient

◆ GetIZone()

double frc::PIDController::GetIZone ( ) const

Get the IZone range.

Returns: Maximum magnitude of error to allow integral control.

◆ GetP()

double frc::PIDController::GetP ( ) const

Gets the proportional coefficient.

Returns: proportional coefficient

◆ GetPeriod()

units::second_t frc::PIDController::GetPeriod ( ) const

Gets the period of this controller.

Returns: The period of the controller.

◆ GetPositionError()

double frc::PIDController::GetPositionError ( ) const

Returns the difference between the setpoint and the measurement.

◆ GetPositionTolerance()

double frc::PIDController::GetPositionTolerance ( ) const

Gets the position tolerance of this controller.

Returns: The position tolerance of the controller.

◆ GetSetpoint()

double frc::PIDController::GetSetpoint ( ) const

Returns the current setpoint of the PIDController.

Returns: The current setpoint.

◆ GetVelocityError()

double frc::PIDController::GetVelocityError ( ) const

Returns the velocity error.

◆ GetVelocityTolerance()

double frc::PIDController::GetVelocityTolerance ( ) const

Gets the velocity tolerance of this controller.

Returns: The velocity tolerance of the controller.

◆ InitSendable()

void frc::PIDController::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsContinuousInputEnabled()

bool frc::PIDController::IsContinuousInputEnabled ( ) const

Returns true if continuous input is enabled.

◆ operator=() [1/2]

PIDController & frc::PIDController::operator= ( const PIDController & )

default

◆ operator=() [2/2]

PIDController & frc::PIDController::operator= ( PIDController && )

default

◆ Reset()

void frc::PIDController::Reset ( )

Reset the previous error, the integral term, and disable the controller.

◆ SetD()

void frc::PIDController::SetD ( double Kd )

Sets the differential coefficient of the PID controller gain.

Parameters

Kd	differential coefficient

◆ SetI()

void frc::PIDController::SetI ( double Ki )

Sets the integral coefficient of the PID controller gain.

Parameters

Ki	integral coefficient

◆ SetIntegratorRange()

void frc::PIDController::SetIntegratorRange	(	double	minimumIntegral,
		double	maximumIntegral
	)

Sets the minimum and maximum values for the integrator.

When the cap is reached, the integrator value is added to the controller output rather than the integrator value times the integral gain.

Parameters

minimumIntegral	The minimum value of the integrator.
maximumIntegral	The maximum value of the integrator.

◆ SetIZone()

void frc::PIDController::SetIZone ( double iZone )

Sets the IZone range.

When the absolute value of the position error is greater than IZone, the total accumulated error will reset to zero, disabling integral gain until the absolute value of the position error is less than IZone. This is used to prevent integral windup. Must be non-negative. Passing a value of zero will effectively disable integral gain. Passing a value of infinity disables IZone functionality.

Parameters

iZone Maximum magnitude of error to allow integral control.

◆ SetP()

void frc::PIDController::SetP ( double Kp )

Sets the proportional coefficient of the PID controller gain.

Parameters

Kp	proportional coefficient

◆ SetPID()

void frc::PIDController::SetPID	(	double	Kp,
		double	Ki,
		double	Kd
	)

Sets the PID Controller gain parameters.

Sets the proportional, integral, and differential coefficients.

Parameters

Kp	Proportional coefficient
Ki	Integral coefficient
Kd	Differential coefficient

◆ SetSetpoint()

void frc::PIDController::SetSetpoint ( double setpoint )

Sets the setpoint for the PIDController.

Parameters

setpoint The desired setpoint.

◆ SetTolerance()

void frc::PIDController::SetTolerance	(	double	positionTolerance,
		double	velocityTolerance = `std::numeric_limits< double >::infinity()`
	)

Sets the error which is considered tolerable for use with AtSetpoint().

Parameters

positionTolerance	Position error which is tolerable.
velocityTolerance	Velocity error which is tolerable.

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

frc/controller/PIDController.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PIDController() [1/3]

◆ ~PIDController()

◆ PIDController() [2/3]

◆ PIDController() [3/3]

Member Function Documentation

◆ AtSetpoint()

◆ Calculate() [1/2]

◆ Calculate() [2/2]

◆ DisableContinuousInput()

◆ EnableContinuousInput()

◆ GetD()

◆ GetI()

◆ GetIZone()

◆ GetP()

◆ GetPeriod()

◆ GetPositionError()

◆ GetPositionTolerance()

◆ GetSetpoint()

◆ GetVelocityError()

◆ GetVelocityTolerance()

◆ InitSendable()

◆ IsContinuousInputEnabled()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Reset()

◆ SetD()

◆ SetI()

◆ SetIntegratorRange()

◆ SetIZone()

◆ SetP()

◆ SetPID()

◆ SetSetpoint()

◆ SetTolerance()