onepi.utils.pid_controller.PidController Class Reference

Public Member Functions
	__init__ (self, pid_params=PidParams(), min_value=-100, max_value=100)
	set_pid_params (self, pid_params)
	get_pid_params (self)
	get_setpoint (self)
	change_setpoint (self, setpoint)
	compute_output (self, input_value)
	reset_controller (self)

Static Protected Attributes
int	_min_value = -100
int	_max_value = 100
	_pid = PidParams()
int	_setpoint = 0
bool	_change_sign = False
int	_last_error = 0
int	_output = 0
int	_integral = 0

Detailed Description

Construct a new PID controller object
kp proportional gain
ki integral gain
kd derivative gain

Constructor & Destructor Documentation

__init__()

onepi.utils.pid_controller.PidController.__init__	(		self,
			pid_params = PidParams(),
			min_value = -100,
			max_value = 100 )

construtor

Member Function Documentation

change_setpoint()

onepi.utils.pid_controller.PidController.change_setpoint	(		self,
			setpoint )

Change the setpoint or reference value.
This is the value the PID controller is trying to reach.
setpoint: reference value

compute_output()

onepi.utils.pid_controller.PidController.compute_output	(		self,
			input_value )

Computes the output command by applying the PID control algorithm
input_value: current input value
return: float output command value

get_pid_params()

onepi.utils.pid_controller.PidController.get_pid_params

(

self

)

returns pid params

get_setpoint()

onepi.utils.pid_controller.PidController.get_setpoint

(

self

)

returns the setpoint

reset_controller()

onepi.utils.pid_controller.PidController.reset_controller

(

self

)

resets the gains

set_pid_params()

onepi.utils.pid_controller.PidController.set_pid_params	(		self,
			pid_params )

updates pid params

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

• onepi/utils/pid_controller.py