Implements a PID control loop. More...

#include <frc/controller/PIDController.h>

Inheritance diagram for frc::PIDController:

Public Member Functions
constexpr	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.

constexpr	~PIDController () override=default

constexpr	PIDController (const PIDController &)=default

constexpr PIDController &	operator= (const PIDController &)=default

constexpr	PIDController (PIDController &&)=default

constexpr PIDController &	operator= (PIDController &&)=default

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

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

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

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

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

constexpr double	GetP () const
	Gets the proportional coefficient.

constexpr double	GetI () const
	Gets the integral coefficient.

constexpr double	GetD () const
	Gets the differential coefficient.

constexpr double	GetIZone () const
	Get the IZone range.

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

constexpr double	GetErrorTolerance () const
	Gets the error tolerance of this controller.

constexpr double	GetErrorDerivativeTolerance () const
	Gets the error derivative tolerance of this controller.

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

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

constexpr double	GetAccumulatedError () const
	Gets the accumulated error used in the integral calculation of this controller.

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

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

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

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

constexpr void	DisableContinuousInput ()
	Disables continuous input.

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

constexpr void	SetIntegratorRange (double minimumIntegral, double maximumIntegral)
	Sets the minimum and maximum contributions of the integral term.

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

constexpr double	GetError () const
	Returns the difference between the setpoint and the measurement.

constexpr double	GetErrorDerivative () const
	Returns the error derivative.

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

constexpr double	GetVelocityError () const
	Returns the velocity error.

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

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

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

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

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

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

constexpr	SendableHelper (SendableHelper &&rhs)

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

constexpr SendableHelper &	operator= (SendableHelper &&rhs)

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

constexpr	~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 )

inlineconstexpr

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

Parameters

Kp	The proportional coefficient. Must be >= 0.
Ki	The integral coefficient. Must be >= 0.
Kd	The derivative coefficient. Must be >= 0.
period	The period between controller updates in seconds. The default is 20 milliseconds. Must be positive.

◆ ~PIDController()

frc::PIDController::~PIDController ( )

constexproverridedefault

◆ PIDController() [2/3]

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

constexprdefault

◆ PIDController() [3/3]

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

constexprdefault

Member Function Documentation

◆ AtSetpoint()

bool frc::PIDController::AtSetpoint ( ) const

inlineconstexpr

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

The error tolerance defauls to 0.05, and the error derivative tolerance defaults to ∞.

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

◆ Calculate() [1/2]

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

inlineconstexpr

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 )

inlineconstexpr

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 ( )

inlineconstexpr

Disables continuous input.

◆ EnableContinuousInput()

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

inlineconstexpr

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.

◆ GetAccumulatedError()

double frc::PIDController::GetAccumulatedError ( ) const

inlineconstexpr

Gets the accumulated error used in the integral calculation of this controller.

Returns: The accumulated error of this controller.

◆ GetD()

double frc::PIDController::GetD ( ) const

inlineconstexpr

Gets the differential coefficient.

Returns: differential coefficient

◆ GetError()

double frc::PIDController::GetError ( ) const

inlineconstexpr

Returns the difference between the setpoint and the measurement.

◆ GetErrorDerivative()

double frc::PIDController::GetErrorDerivative ( ) const

inlineconstexpr

Returns the error derivative.

◆ GetErrorDerivativeTolerance()

double frc::PIDController::GetErrorDerivativeTolerance ( ) const

inlineconstexpr

Gets the error derivative tolerance of this controller.

Defaults to ∞.

Returns: The error derivative tolerance of the controller.

◆ GetErrorTolerance()

double frc::PIDController::GetErrorTolerance ( ) const

inlineconstexpr

Gets the error tolerance of this controller.

Defaults to 0.05.

Returns: The error tolerance of the controller.

◆ GetI()

double frc::PIDController::GetI ( ) const

inlineconstexpr

Gets the integral coefficient.

Returns: integral coefficient

◆ GetIZone()

double frc::PIDController::GetIZone ( ) const

inlineconstexpr

Get the IZone range.

Returns: Maximum magnitude of error to allow integral control.

◆ GetP()

double frc::PIDController::GetP ( ) const

inlineconstexpr

Gets the proportional coefficient.

Returns: proportional coefficient

◆ GetPeriod()

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

inlineconstexpr

Gets the period of this controller.

Returns: The period of the controller.

◆ GetPositionError()

double frc::PIDController::GetPositionError ( ) const

inlineconstexpr

Returns the difference between the setpoint and the measurement.

Deprecated: Use GetError() instead.

◆ GetPositionTolerance()

double frc::PIDController::GetPositionTolerance ( ) const

inlineconstexpr

Gets the position tolerance of this controller.

Returns: The position tolerance of the controller.

Deprecated: Use GetErrorTolerance() instead.

◆ GetSetpoint()

double frc::PIDController::GetSetpoint ( ) const

inlineconstexpr

Returns the current setpoint of the PIDController.

Returns: The current setpoint.

◆ GetVelocityError()

double frc::PIDController::GetVelocityError ( ) const

inlineconstexpr

Returns the velocity error.

Deprecated: Use GetErrorDerivative() instead.

◆ GetVelocityTolerance()

double frc::PIDController::GetVelocityTolerance ( ) const

inlineconstexpr

Gets the velocity tolerance of this controller.

Returns: The velocity tolerance of the controller.

Deprecated: Use GetErrorDerivativeTolerance() instead.

◆ 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

inlineconstexpr

Returns true if continuous input is enabled.

◆ operator=() [1/2]

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

constexprdefault

◆ operator=() [2/2]

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

constexprdefault

◆ Reset()

void frc::PIDController::Reset ( )

inlineconstexpr

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

◆ SetD()

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

inlineconstexpr

Sets the differential coefficient of the PID controller gain.

Parameters

Kd	The differential coefficient. Must be >= 0.

◆ SetI()

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

inlineconstexpr

Sets the integral coefficient of the PID controller gain.

Parameters

Ki	The integral coefficient. Must be >= 0.

◆ SetIntegratorRange()

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

inlineconstexpr

Sets the minimum and maximum contributions of the integral term.

The internal integrator is clamped so that the integral term's contribution to the output stays between minimumIntegral and maximumIntegral. This prevents integral windup.

Parameters

minimumIntegral	The minimum contribution of the integral term.
maximumIntegral	The maximum contribution of the integral term.

◆ SetIZone()

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

inlineconstexpr

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. Must be >= 0.

◆ SetP()

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

inlineconstexpr

Sets the proportional coefficient of the PID controller gain.

Parameters

Kp	The proportional coefficient. Must be >= 0.

◆ SetPID()

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

inlineconstexpr

Sets the PID Controller gain parameters.

Sets the proportional, integral, and differential coefficients.

Parameters

Kp	The proportional coefficient. Must be >= 0.
Ki	The integral coefficient. Must be >= 0.
Kd	The differential coefficient. Must be >= 0.

◆ SetSetpoint()

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

inlineconstexpr

Sets the setpoint for the PIDController.

Parameters

setpoint The desired setpoint.

◆ SetTolerance()

void frc::PIDController::SetTolerance	(	double	errorTolerance,
		double	errorDerivativeTolerance = std::numeric_limits<double>::infinity() )

inlineconstexpr

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

Parameters

errorTolerance	error which is tolerable.
errorDerivativeTolerance	error derivative 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()

◆ GetAccumulatedError()

◆ GetD()

◆ GetError()

◆ GetErrorDerivative()

◆ GetErrorDerivativeTolerance()

◆ GetErrorTolerance()

◆ 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()