fastcat::Pid Class Reference

#include "pid.h"

Inheritance diagram for fastcat::Pid:

Collaboration diagram for fastcat::Pid:

Public Member Functions
	Pid ()
bool	ConfigFromYaml (const YAML::Node &node) override
bool	Read () override
bool	Write (DeviceCmd &cmd) override
void	Fault () override
Public Member Functions inherited from fastcat::DeviceBase
virtual	~DeviceBase ()
virtual FaultType	Process ()
virtual void	Reset ()
virtual void	SetInitializationTime (double time_sec, double monotonic_time_sec)
void	RegisterCmdQueue (std::shared_ptr< ThreadSafeQueue< DeviceCmd > > cmd_queue)
std::string	GetName ()
std::shared_ptr< DeviceState >	GetState ()
void	SetTime (double time, double monotonic_time)
void	SetLoopPeriod (double loop_period)

Protected Attributes
double	kp_ = 0.0
double	ki_ = 0.0
double	kd_ = 0.0
double	windup_limit_ = 0.0
PidActivateCmd	pid_activate_cmd_ = {0}
double	activation_time_ = 0.0
double	error_ = 0.0
double	prev_error_ = 0.0
double	integral_error_ = 0.0
uint8_t	persistence_counter_ = 0
Protected Attributes inherited from fastcat::DeviceBase
std::string	name_
	unique device name
double	last_monotonic_time_ = 0.0
double	loop_period_ = 0.0
	only some devices need
double	initialization_time_sec_ = -1
	only some devices need
double	monotonic_initialization_time_sec_ = -1
	only some devices need
bool	device_fault_active_ = false
	device-level fault, manager also has fault status flag
std::shared_ptr< DeviceState >	state_
	Fastcat state data.
std::shared_ptr< ThreadSafeQueue< DeviceCmd > >	cmd_queue_
	for intra-device commands

Additional Inherited Members
Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Constructor & Destructor Documentation

Pid()

fastcat::Pid::Pid

(

)

Member Function Documentation

ConfigFromYaml()

bool fastcat::Pid::ConfigFromYaml ( const YAML::Node &  node )

overridevirtual

Implements fastcat::DeviceBase.

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Fault()

void fastcat::Pid::Fault ( )

overridevirtual

Reimplemented from fastcat::DeviceBase.

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Read()

bool fastcat::Pid::Read ( )

overridevirtual

Implements fastcat::DeviceBase.

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Write()

bool fastcat::Pid::Write ( DeviceCmd &  cmd )

overridevirtual

Reimplemented from fastcat::DeviceBase.

Member Data Documentation

activation_time_

double fastcat::Pid::activation_time_ = 0.0

protected

error_

double fastcat::Pid::error_ = 0.0

protected

integral_error_

double fastcat::Pid::integral_error_ = 0.0

protected

kd_

double fastcat::Pid::kd_ = 0.0

protected

ki_

double fastcat::Pid::ki_ = 0.0

protected

kp_

double fastcat::Pid::kp_ = 0.0

protected

persistence_counter_

uint8_t fastcat::Pid::persistence_counter_ = 0

protected

pid_activate_cmd_

PidActivateCmd fastcat::Pid::pid_activate_cmd_ = {0}

protected

prev_error_

double fastcat::Pid::prev_error_ = 0.0

protected

windup_limit_

double fastcat::Pid::windup_limit_ = 0.0

protected

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

• src/fastcat_devices/pid.h
• src/fastcat_devices/pid.cc