11 #include "Controller.h"
12 #include "LiveWindow/LiveWindow.h"
13 #include "PIDInterface.h"
14 #include "PIDSource.h"
16 #include "HAL/cpp/priority_mutex.h"
46 virtual float Get()
const;
48 virtual void SetInputRange(
float minimumInput,
float maximumInput);
49 virtual void SetOutputRange(
float minimumOutput,
float maximumOutput);
50 virtual void SetPID(
double p,
double i,
double d)
override;
51 virtual void SetPID(
double p,
double i,
double d,
double f);
52 virtual double GetP()
const override;
53 virtual double GetI()
const override;
54 virtual double GetD()
const override;
55 virtual double GetF()
const;
67 virtual void SetTolerance(
float percent);
68 virtual void SetAbsoluteTolerance(
float absValue);
69 virtual void SetPercentTolerance(
float percentValue);
70 virtual void SetToleranceBuffer(
unsigned buf = 1);
71 virtual bool OnTarget()
const;
73 virtual void Enable()
override;
74 virtual void Disable()
override;
77 virtual void Reset()
override;
79 virtual void InitTable(std::shared_ptr<ITable> table)
override;
85 std::shared_ptr<ITable> m_table;
94 float m_maximumOutput = 1.0;
95 float m_minimumOutput = -1.0;
96 float m_maximumInput = 0;
97 float m_minimumInput = 0;
98 bool m_continuous =
false;
99 bool m_enabled =
false;
100 float m_prevError = 0;
101 double m_totalError = 0;
106 } m_toleranceType = kNoTolerance;
109 float m_tolerance = 0.05;
110 float m_setpoint = 0;
111 float m_prevSetpoint = 0;
117 std::atomic<unsigned> m_bufLength{1};
118 std::queue<double> m_buf;
119 double m_bufTotal = 0;
123 std::unique_ptr<Notifier> m_controlLoop;
124 Timer m_setpointTimer;
126 void Initialize(
float p,
float i,
float d,
float f,
PIDSource *source,
129 virtual std::shared_ptr<ITable> GetTable()
const override;
130 virtual std::string GetSmartDashboardType()
const override;
132 std::shared_ptr<nt::Value> value,
133 bool isNew)
override;
134 virtual void UpdateTable()
override;
135 virtual void StartLiveWindowMode()
override;
136 virtual void StopLiveWindowMode()
override;
virtual void InitTable(std::shared_ptr< ITable > table) override
Initializes a table for this sendable object.
Definition: PIDController.cpp:563
virtual void Disable() override
Stop running the PIDController, this sets the output to zero before stopping.
Definition: PIDController.cpp:527
A table whose values can be read and written to.
Definition: ITable.h:43
virtual void SetOutputRange(float minimumOutput, float maximumOutput)
Sets the minimum and maximum values to write.
Definition: PIDController.cpp:325
Class implements a PID Control Loop.
Definition: PIDController.h:33
double GetDeltaSetpoint() const
Returns the change in setpoint over time of the PIDController.
Definition: PIDController.cpp:375
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:18
virtual void SetSetpoint(float setpoint) override
Set the setpoint for the PIDController Clears the queue for GetAvgError().
Definition: PIDController.cpp:338
virtual void SetContinuous(bool continuous=true)
Set the PID controller to consider the input to be continuous, Rather then using the max and min in a...
Definition: PIDController.cpp:298
virtual double CalculateFeedForward()
Calculate the feed forward term.
Definition: PIDController.cpp:186
virtual float GetAvgError() const
Returns the current average of the error over the past few iterations.
Definition: PIDController.cpp:413
virtual double GetSetpoint() const override
Returns the current setpoint of the PIDController.
Definition: PIDController.cpp:366
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:18
virtual double GetD() const override
Get the Differential coefficient.
Definition: PIDController.cpp:267
Definition: priority_mutex.h:22
virtual void Calculate()
Read the input, calculate the output accordingly, and write to the output.
Definition: PIDController.cpp:85
virtual double GetF() const
Get the Feed forward coefficient.
Definition: PIDController.cpp:276
virtual void Enable() override
Begin running the PIDController.
Definition: PIDController.cpp:513
virtual void SetInputRange(float minimumInput, float maximumInput)
Sets the maximum and minimum values expected from the input.
Definition: PIDController.cpp:309
virtual double GetP() const override
Get the Proportional coefficient.
Definition: PIDController.cpp:249
A listener that listens to changes in values in a ITable.
Definition: ITableListener.h:18
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:18
Definition: PIDInterface.h:14
virtual float GetError() const
Returns the current difference of the input from the setpoint.
Definition: PIDController.cpp:384
virtual bool IsEnabled() const override
Return true if PIDController is enabled.
Definition: PIDController.cpp:542
PIDController(float p, float i, float d, PIDSource *source, PIDOutput *output, float period=0.05)
Allocate a PID object with the given constants for P, I, D.
Definition: PIDController.cpp:34
virtual void SetPID(double p, double i, double d) override
Set the PID Controller gain parameters.
Definition: PIDController.cpp:205
Timer objects measure accumulated time in seconds.
Definition: Timer.h:29
virtual float Get() const
Return the current PID result This is always centered on zero and constrained the the max and min out...
Definition: PIDController.cpp:286
virtual void SetPIDSourceType(PIDSourceType pidSource)
Sets what type of input the PID controller will use.
Definition: PIDController.cpp:396
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:39
virtual double GetI() const override
Get the Integral coefficient.
Definition: PIDController.cpp:258
virtual PIDSourceType GetPIDSourceType() const
Returns the type of input the PID controller is using.
Definition: PIDController.cpp:403
virtual void Reset() override
Reset the previous error,, the integral term, and disable the controller.
Definition: PIDController.cpp:550