Controller gains for the effort PID loop. More...

#include <command.hpp>

Public Member Functions
FloatField &	effortKp ()
	Proportional PID gain for effort. More...

const FloatField &	effortKp () const
	Proportional PID gain for effort. More...

FloatField &	effortKi ()
	Integral PID gain for effort. More...

const FloatField &	effortKi () const
	Integral PID gain for effort. More...

FloatField &	effortKd ()
	Derivative PID gain for effort. More...

const FloatField &	effortKd () const
	Derivative PID gain for effort. More...

FloatField &	effortFeedForward ()
	Feed forward term for effort (this term is multiplied by the target and added to the output). More...

const FloatField &	effortFeedForward () const
	Feed forward term for effort (this term is multiplied by the target and added to the output). More...

FloatField &	effortDeadZone ()
	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...

const FloatField &	effortDeadZone () const
	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...

FloatField &	effortIClamp ()
	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...

const FloatField &	effortIClamp () const
	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...

FloatField &	effortPunch ()
	Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...

const FloatField &	effortPunch () const
	Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...

FloatField &	effortMinTarget ()
	Minimum allowed value for input to the PID controller. More...

const FloatField &	effortMinTarget () const
	Minimum allowed value for input to the PID controller. More...

FloatField &	effortMaxTarget ()
	Maximum allowed value for input to the PID controller. More...

const FloatField &	effortMaxTarget () const
	Maximum allowed value for input to the PID controller. More...

FloatField &	effortTargetLowpass ()
	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

const FloatField &	effortTargetLowpass () const
	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

FloatField &	effortMinOutput ()
	Output from the PID controller is limited to a minimum of this value. More...

const FloatField &	effortMinOutput () const
	Output from the PID controller is limited to a minimum of this value. More...

FloatField &	effortMaxOutput ()
	Output from the PID controller is limited to a maximum of this value. More...

const FloatField &	effortMaxOutput () const
	Output from the PID controller is limited to a maximum of this value. More...

FloatField &	effortOutputLowpass ()
	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

const FloatField &	effortOutputLowpass () const
	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...

BoolField &	effortDOnError ()
	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output. More...

const BoolField &	effortDOnError () const
	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output. More...

Detailed Description

Controller gains for the effort PID loop.

Member Function Documentation

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKp ( )

inline

Proportional PID gain for effort.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKp ( ) const

inline

Proportional PID gain for effort.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKi ( )

inline

Integral PID gain for effort.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKi ( ) const

inline

Integral PID gain for effort.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKd ( )

inline

Derivative PID gain for effort.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortKd ( ) const

inline

Derivative PID gain for effort.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortFeedForward ( )

inline

Feed forward term for effort (this term is multiplied by the target and added to the output).

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortFeedForward ( ) const

inline

Feed forward term for effort (this term is multiplied by the target and added to the output).

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortDeadZone ( )

inline

Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortDeadZone ( ) const

inline

Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortIClamp ( )

inline

Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortIClamp ( ) const

inline

Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortPunch ( )

inline

Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortPunch ( ) const

inline

Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMinTarget ( )

inline

Minimum allowed value for input to the PID controller.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMinTarget ( ) const

inline

Minimum allowed value for input to the PID controller.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMaxTarget ( )

inline

Maximum allowed value for input to the PID controller.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMaxTarget ( ) const

inline

Maximum allowed value for input to the PID controller.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortTargetLowpass ( )

inline

A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortTargetLowpass ( ) const

inline

A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMinOutput ( )

inline

Output from the PID controller is limited to a minimum of this value.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMinOutput ( ) const

inline

Output from the PID controller is limited to a minimum of this value.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMaxOutput ( )

inline

Output from the PID controller is limited to a maximum of this value.

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortMaxOutput ( ) const

inline

Output from the PID controller is limited to a maximum of this value.

FloatField& hebi::Command::Settings::Actuator::EffortGains::effortOutputLowpass ( )

inline

A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

const FloatField& hebi::Command::Settings::Actuator::EffortGains::effortOutputLowpass ( ) const

inline

A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

BoolField& hebi::Command::Settings::Actuator::EffortGains::effortDOnError ( )

inline

Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.

const BoolField& hebi::Command::Settings::Actuator::EffortGains::effortDOnError ( ) const

inline

Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.

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

src/command.hpp

Public Member Functions

Detailed Description

Member Function Documentation