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PID.hpp
1 /*
2 Modified BSD License
3 
4 PID controller classes
5 http://sf.net/projects/enjomitchsorbit
6 
7 Copyright (c) 2011, Szymon "Enjo" Ender
8 All rights reserved.
9 
10 Redistribution and use in source and binary forms, with or without
11 modification, are permitted provided that the following conditions are met:
12  * Redistributions of source code must retain the above copyright
13  notice, this list of conditions and the following disclaimer.
14  * Redistributions in binary form must reproduce the above copyright
15  notice, this list of conditions and the following disclaimer in the
16  documentation and/or other materials provided with the distribution.
17  * Neither the name of the <organization> nor the
18  names of its contributors may be used to endorse or promote products
19  derived from this software without specific prior written permission.
20 
21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
22 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
23 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 DISCLAIMED. IN NO EVENT SHALL SZYMON ENDER BE LIABLE FOR ANY
25 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
26 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
28 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
29 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
30 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 */
32 
33 #ifndef PID_HPP_INCLUDED
34 #define PID_HPP_INCLUDED
35 
36 #include "IntegratorDiscrete.hpp"
37 #include "DerivatorDiscrete.hpp"
38 
39 namespace EnjoLib
40 {
41 class PID
42 {
43 public:
44  PID(double kp, double kd = 0, double ki = 0);
45  double Update(double error, double dt);
46  void SetKp(double kp);
47  void SetKd(double kd);
48  void SetKi(double ki);
49  void Reset();
50 
51  double GetCurrentValue() const;
52  double GetKp() const;
53  double GetKd() const;
54  double GetKi() const;
55 
56 private:
57  double m_kp, m_kd, m_ki;
58  double m_currValue;
59  IntegratorDiscrete m_integrator;
60  DerivatorDiscrete m_derivator;
61 };
62 }
63 
64 #endif // PID_HPP_INCLUDED