PIController Class Reference

#include <picontroller.h>

Collaboration diagram for PIController:

[legend]

Public Member Functions
	PIController (const double kr, const double tr)
void	setIFade (const double iFade)
void	setKr (const double kr)
void	setPFade (const double pFade)
void	setTr (const double tr)
double	step (const double xDesired, const double xNow)

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Detailed Description

Author:

Axel Schneider, Daniel Westhoff

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Constructor & Destructor Documentation

PIController::PIController	(	const double	kr,
		const double	tr
	)

		constructor with parameters 	kr = PI controller proportional gain
																	tr = PI controller time constant
	

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Member Function Documentation

void PIController::setIFade

(

const double

iFade

)

sets the fading variable iFade

void PIController::setKr

(

const double

kr

)

sets the gain kr for the PI controller

void PIController::setPFade

(

const double

pFade

)

fading for the P part of the controller

void PIController::setTr

(

const double

tr

)

sets the controller's time constant _tr

double PIController::step	(	const double	xDesired,
		const double	xNow
	)

starts one cycle of the PI controller and returns the correcting variable

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

• picontroller.h
• picontroller.cc

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 15:01:30 2006 by 1.4.7