pid.hpp File Reference

Discrete PID controller with rich exit-condition support. More...

#include "LightLib/api.h"
#include "LightLib/util/util.hpp"

Go to the source code of this file.

Classes
class	light::PID
	Discrete PID controller with rich exit-condition support. More...
struct	light::PID::Constants
	PID gain constants. More...
struct	light::PID::exit_condition_
	Exit condition timing and thresholds. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Detailed Description

Discrete PID controller with rich exit-condition support.

Computes a control output from an error signal, with optional integral windup guard, derivative-kick suppression, and a configurable family of exit conditions (small/big error timers, velocity exit, current limit).

Definition in file pid.hpp.