| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef PIDCONTROLLER_H_
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| 8 | #define PIDCONTROLLER_H_
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| 9 |
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| 10 | #include "Base.h"
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| 11 | #include "semLib.h"
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| 12 | #include "Controller.h"
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| 13 | #include "LiveWindow/LiveWindow.h"
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| 14 |
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| 15 | class PIDOutput;
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| 16 | class PIDSource;
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| 17 | class Notifier;
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| 18 |
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| 19 | /**
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| 20 | * Class implements a PID Control Loop.
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| 21 | *
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| 22 | * Creates a separate thread which reads the given PIDSource and takes
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| 23 | * care of the integral calculations, as well as writing the given
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| 24 | * PIDOutput
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| 25 | */
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| 26 | class PIDController : public LiveWindowSendable, public Controller, public ITableListener
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| 27 | {
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| 28 | public:
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| 29 | PIDController(float p, float i, float d,
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| 30 | PIDSource *source, PIDOutput *output,
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| 31 | float period = 0.05);
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| 32 | PIDController(float p, float i, float d, float f,
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| 33 | PIDSource *source, PIDOutput *output,
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| 34 | float period = 0.05);
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| 35 | virtual ~PIDController();
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| 36 | virtual float Get();
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| 37 | virtual void SetContinuous(bool continuous = true);
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| 38 | virtual void SetInputRange(float minimumInput, float maximumInput);
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| 39 | virtual void SetOutputRange(float mimimumOutput, float maximumOutput);
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| 40 | virtual void SetPID(float p, float i, float d);
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| 41 | virtual void SetPID(float p, float i, float d, float f);
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| 42 | virtual float GetP();
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| 43 | virtual float GetI();
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| 44 | virtual float GetD();
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| 45 | virtual float GetF();
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| 46 |
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| 47 | virtual void SetSetpoint(float setpoint);
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| 48 | virtual float GetSetpoint();
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| 49 |
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| 50 | virtual float GetError();
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| 51 |
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| 52 | virtual void SetTolerance(float percent);
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| 53 | virtual void SetAbsoluteTolerance(float absValue);
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| 54 | virtual void SetPercentTolerance(float percentValue);
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| 55 | virtual bool OnTarget();
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| 56 |
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| 57 | virtual void Enable();
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| 58 | virtual void Disable();
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| 59 | virtual bool IsEnabled();
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| 60 |
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| 61 | virtual void Reset();
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| 62 |
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| 63 | virtual void InitTable(ITable* table);
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| 64 |
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| 65 | private:
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| 66 | float m_P; // factor for "proportional" control
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| 67 | float m_I; // factor for "integral" control
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| 68 | float m_D; // factor for "derivative" control
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| 69 | float m_F; // factor for "feed forward" control
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| 70 | float m_maximumOutput; // |maximum output|
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| 71 | float m_minimumOutput; // |minimum output|
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| 72 | float m_maximumInput; // maximum input - limit setpoint to this
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| 73 | float m_minimumInput; // minimum input - limit setpoint to this
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| 74 | bool m_continuous; // do the endpoints wrap around? eg. Absolute encoder
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| 75 | bool m_enabled; //is the pid controller enabled
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| 76 | float m_prevError; // the prior sensor input (used to compute velocity)
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| 77 | double m_totalError; //the sum of the errors for use in the integral calc
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| 78 | enum {kAbsoluteTolerance, kPercentTolerance, kNoTolerance} m_toleranceType;
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| 79 | float m_tolerance; //the percetage or absolute error that is considered on target
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| 80 | float m_setpoint;
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| 81 | float m_error;
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| 82 | float m_result;
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| 83 | float m_period;
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| 84 |
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| 85 | SEM_ID m_semaphore;
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| 86 |
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| 87 | PIDSource *m_pidInput;
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| 88 | PIDOutput *m_pidOutput;
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| 89 | Notifier *m_controlLoop;
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| 90 |
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| 91 | void Initialize(float p, float i, float d, float f,
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| 92 | PIDSource *source, PIDOutput *output,
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| 93 | float period = 0.05);
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| 94 | static void CallCalculate(void *controller);
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| 95 | void Calculate();
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| 96 |
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| 97 | virtual ITable* GetTable();
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| 98 | virtual std::string GetSmartDashboardType();
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| 99 | virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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| 100 | virtual void UpdateTable();
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| 101 | virtual void StartLiveWindowMode();
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| 102 | virtual void StopLiveWindowMode();
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| 103 | protected:
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| 104 | ITable* m_table;
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| 105 |
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| 106 | DISALLOW_COPY_AND_ASSIGN(PIDController);
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| 107 | };
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| 108 |
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| 109 | #endif
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