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lib-pid

simple header only pid class ready to import as a source library in ROSMOD

Install Build Tools

sudo apt-get install python-catkin-tools

Build Library:

cd
mkdir catkin_ws #if a workspace does not already exist
cd catkin_ws
git clone https://github.com/rosmod/lib-pid.git src/lib-pid

Update Library:

cd ~/catkin_ws
catkin clean pid
cd src/lib-pid
git pull

API

Include

include "pid/pid.h"

Instantiaion

PID pidObject();
PID pidObject(Kp, Ki, Kd, 0, 0, i_max, i_min);

Set goal

// double goal = XXX;
pidObject.setPoint(goal);

get pid output

// double currentValue = XXX;
double output = pidObject.update(currentValue);

Clamp output

// double outputMin = XXX;
// double outputMax = XXX;
pidObject.limitOutput(outputMin, outputMax);
double max = pidObject.getOutputMax();
double min = pidObject.getOutputMin();
bool isSet = pidObject.outputIsLimited();
pidObject.delimitOutput();

Set deadzone about setpoint

// double deadzoneLower = xxx;
// double deadzoneUpper = xxx;
pidObject.setDeadzone(deadzoneLower, deadzoneUpper);
double upper = pidObject.getDeadzoneUpper();
double lower = pidObject.getDeadzoneLower();
bool isSet = pidObject.hasDeadzone();
pidObject.removeDeadzone();

Rosmod source library setup

  1. Copy the url of this repo (https://github.com/rosmod/lib-pid)
  2. In a rosmod project, drag in a new source library to the software model
  3. Paste the link in the url attribute
  4. Name the source library pid 5 Optionally specify a branch to use in the branch attribute
  5. Drag the library into the set editor of any component that uses it
  6. In the forwards section of the component add #include "pid/pid.h