Controller Class Reference

Base class for a controller. Owns a PID instance, and holds a reference to a ConfigStore instance. More...

#include <Controller.h>

Inheritance diagram for Controller:

Collaboration diagram for Controller:

Public Member Functions
	Controller (const ConfigStore *cs, double Kp, double Ki, double Kd, double Kf, uint16_t dt, double cvMin, double cvMax, double defaultSP, double defaultCV)
	Constructor.
void	getTerms (double &pTerm, double &iTerm, double &dTerm) const
	Get the three PID terms by reference.
void	update ()
	Run the controller: Typically reads a sensor, runs a cycle of the PID loop and drives some actuator.
void	updatePIDParameters ()
	Update the PID parameters from the configStore.
const ConfigStore *	getConfigStore ()
	Get a pointer to the ConfigStore instance.

Public Attributes
bool	active = false
double	pv = 0
	Process variable.
double	sp
	Setpoint.
double	cv
	Control variable.

Protected Attributes
PID	pid
const ConfigStore &	cs
unsigned long	sensorLastRead = 0

Detailed Description

Base class for a controller. Owns a PID instance, and holds a reference to a ConfigStore instance.

Definition at line 11 of file Controller.h.

Constructor & Destructor Documentation

Controller()

Controller::Controller	(	const ConfigStore *	cs,
		double	Kp,
		double	Ki,
		double	Kd,
		double	Kf,
		uint16_t	dt,
		double	cvMin,
		double	cvMax,
		double	defaultSP,
		double	defaultCV )

Constructor.

Parameters

cs	Pointer to a ConfigStore instance
Kp	Proportional gain
Ki	Integral gain (in 1/s)
Kd	Derivative gain (in s)
Kf	Feed-forward gain
dt	Timestep (in ms)
cvMin	Lower limit for control value
cvMax	Upper limit for control value
defaultSP	Default value for the setpoint
defaultCV	Default value for the control variable

Definition at line 3 of file Controller.cpp.

Member Function Documentation

getConfigStore()

const ConfigStore * Controller::getConfigStore

(

)

Get a pointer to the ConfigStore instance.

Returns

pointer to the ConfigStore instance.

Definition at line 13 of file Controller.cpp.

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getTerms()

void Controller::getTerms	(	double &	pTerm,
		double &	iTerm,
		double &	dTerm ) const

Get the three PID terms by reference.

Parameters

pTerm
iTerm
dTerm

Definition at line 7 of file Controller.cpp.

update()

void Controller::update

(

)

Run the controller: Typically reads a sensor, runs a cycle of the PID loop and drives some actuator.

updatePIDParameters()

void Controller::updatePIDParameters

(

)

Update the PID parameters from the configStore.

Member Data Documentation

active

bool Controller::active = false

Definition at line 19 of file Controller.h.

cs

const ConfigStore& Controller::cs

protected

Definition at line 14 of file Controller.h.

cv

double Controller::cv

Control variable.

Definition at line 23 of file Controller.h.

pid

PID Controller::pid

protected

Definition at line 13 of file Controller.h.

pv

double Controller::pv = 0

Process variable.

Definition at line 21 of file Controller.h.

sensorLastRead

unsigned long Controller::sensorLastRead = 0

protected

Definition at line 16 of file Controller.h.

sp

double Controller::sp

Setpoint.

Definition at line 22 of file Controller.h.

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

• src/control/Controller.h
• src/control/Controller.cpp