LightPID Struct Reference

Lightweight PID controller used by characterization helpers. More...

#include <extras.hpp>

Public Member Functions
	LightPID (float kP, float kI, float kD)
	Construct with gains.
float	update (float error)
	Advance one step.
void	reset ()
	Zero out the integral and previous-error history.

Public Attributes
float	kP
float	kI
float	kD
	Gains.
float	prevError = 0
	Previous-cycle error.
float	integral = 0
	Accumulated integral term.
float	integralCap = 1000.0f
	Anti-windup clamp (set 0 to disable).

Detailed Description

Lightweight PID controller used by characterization helpers.

Distinct from light::PID — no exit conditions, no telemetry, just kP/kI/kD with an integral cap.

Definition at line 95 of file extras.hpp.

Constructor & Destructor Documentation

LightPID()

LightPID::LightPID ( float  kP, float  kI, float  kD  )

inline

Construct with gains.

Definition at line 102 of file extras.hpp.

Member Function Documentation

reset()

void LightPID::reset ( )

inline

Zero out the integral and previous-error history.

Definition at line 123 of file extras.hpp.

update()

float LightPID::update ( float  error )

inline

Advance one step.

Parameters

error

current error

Returns

control output

Definition at line 111 of file extras.hpp.

Member Data Documentation

integral

float LightPID::integral = 0

Accumulated integral term.

Definition at line 98 of file extras.hpp.

integralCap

float LightPID::integralCap = 1000.0f

Anti-windup clamp (set 0 to disable).

Definition at line 99 of file extras.hpp.

kD

float LightPID::kD

Gains.

Definition at line 96 of file extras.hpp.

kI

float LightPID::kI

Definition at line 96 of file extras.hpp.

kP

float LightPID::kP

Definition at line 96 of file extras.hpp.

prevError

float LightPID::prevError = 0

Previous-cycle error.

Definition at line 97 of file extras.hpp.

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

• include/LightLib/util/extras.hpp