A class for configuring and controlling PID for SPARK motor controllers. More...

#include <PIDController.hpp>

Public Member Functions
	PIDController (SparkBase &base)
	Construct a PIDController from a SparkBase object. More...

void	SetReference (float setpoint, CtrlType controlType)
	Set the controller reference value based on the selected control mode. More...

void	SetFeedbackDevice (uint16_t sensor)
	Set the feedback device for the PID controller. More...

void	SetP (uint8_t slot, float p)
	Set the Proportional (P) gain. More...

void	SetI (uint8_t slot, float i)
	Set the Integral (I) gain. More...

void	SetD (uint8_t slot, float d)
	Set the Derivative (D) gain. More...

void	SetF (uint8_t slot, float f)
	Set the Feedforward (F) gain. More...

void	SetIZone (uint8_t slot, float iZone)
	Set the Integral Zone (I-Zone) for the PID controller. More...

void	SetDFilter (uint8_t slot, float dFilter)
	Set the Derivative Filter for the PID controller. More...

void	SetOutputMin (uint8_t slot, float min)
	Set the output minimum for the PID controller. More...

void	SetOutputMax (uint8_t slot, float max)
	Set the output maximum for the PID controller. More...

void	SetSmartMotionMaxVelocity (uint8_t slot, float maxVel)
	Set the Smart Motion maximum velocity. More...

void	SetSmartMotionMaxAccel (uint8_t slot, float maxAccel)
	Set the Smart Motion maximum acceleration. More...

void	SetSmartMotionMinVelOutput (uint8_t slot, float minVel)
	Set the Smart Motion minimum velocity output. More...

void	SetSmartMotionAllowedClosedLoopError (uint8_t slot, float error)
	Set the allowed closed-loop error for Smart Motion. More...

void	SetSmartMotionAccelStrategy (uint8_t slot, float strategy)
	Set the acceleration strategy for Smart Motion. More...

void	SetIMaxAccum (uint8_t slot, float maxAccum)
	Set the maximum accumulated integral for the PID controller. More...

void	SetSlot3Placeholder1 (uint8_t slot, float value)
	Set the placeholder parameter in slot 3, position 1. More...

void	SetSlot3Placeholder2 (uint8_t slot, float value)
	Set the placeholder parameter in slot 3, position 2. More...

void	SetSlot3Placeholder3 (uint8_t slot, float value)
	Set the placeholder parameter in slot 3, position 3. More...

void	SetPositionPIDWrapEnable (bool enable)
	Enable or disable position PID wrap. More...

void	SetPositionPIDMinInput (float minInput)
	Set the minimum input for position PID control. More...

void	SetPositionPIDMaxInput (float maxInput)
	Set the maximum input for position PID control. More...

uint16_t	GetFeedbackDevice ()
	Get the feedback device ID. More...

float	GetP (uint8_t slot)
	Get the Proportional (P) gain. More...

float	GetI (uint8_t slot)
	Get the Integral (I) gain. More...

float	GetD (uint8_t slot)
	Get the Derivative (D) gain. More...

float	GetF (uint8_t slot)
	Get the Feedforward (F) gain. More...

float	GetIZone (uint8_t slot)
	Get the Integral Zone (I-Zone). More...

float	GetDFilter (uint8_t slot)
	Get the Derivative Filter value. More...

float	GetOutputMin (uint8_t slot)
	Get the minimum output range. More...

float	GetOutputMax (uint8_t slot)
	Get the maximum output range. More...

float	GetSmartMotionMaxVelocity (uint8_t slot)
	Get the Smart Motion maximum velocity. More...

float	GetSmartMotionMaxAccel (uint8_t slot)
	Get the Smart Motion maximum acceleration. More...

float	GetSmartMotionMinVelOutput (uint8_t slot)
	Get the Smart Motion minimum velocity output. More...

float	GetSmartMotionAllowedClosedLoopError (uint8_t slot)
	Get the allowed closed-loop error for Smart Motion. More...

float	GetSmartMotionAccelStrategy (uint8_t slot)
	Get the Smart Motion acceleration strategy. More...

float	GetIMaxAccum (uint8_t slot)
	Get the maximum accumulated integral for the PID controller. More...

float	GetSlot3Placeholder1 (uint8_t slot)
	Get the value of slot 3 placeholder 1. More...

float	GetSlot3Placeholder2 (uint8_t slot)
	Get the value of slot 3 placeholder 2. More...

float	GetSlot3Placeholder3 (uint8_t slot)
	Get the value of slot 3 placeholder 3. More...

bool	GetPositionPIDWrapEnable ()
	Get whether position PID wrap is enabled. More...

float	GetPositionPIDMinInput ()
	Get the minimum input for position PID control. More...

float	GetPositionPIDMaxInput ()
	Get the maximum input for position PID control. More...

Detailed Description

A class for configuring and controlling PID for SPARK motor controllers.

This class provides methods for setting and getting various PID parameters such as P, I, D, F gains, and other control parameters specific to Smart Motion and position control.

Constructor & Destructor Documentation

◆ PIDController()

PIDController::PIDController ( SparkBase & base )

explicit

Construct a PIDController from a SparkBase object.

Constructor that initializes a PIDController with a reference to a SparkBase object.

Parameters

base	The SparkBase object associated with this PIDController.

Member Function Documentation

◆ GetD()

float PIDController::GetD ( uint8_t slot )

Get the Derivative (D) gain.

Parameters

slot	The PID slot (0-3).

Returns: The D gain value.

◆ GetDFilter()

float PIDController::GetDFilter ( uint8_t slot )

Get the Derivative Filter value.

Parameters

slot	The PID slot (0-3).

Returns: The D-Filter value.

◆ GetF()

float PIDController::GetF ( uint8_t slot )

Get the Feedforward (F) gain.

Parameters

slot	The PID slot (0-3).

Returns: The F gain value.

◆ GetFeedbackDevice()

uint16_t PIDController::GetFeedbackDevice ( )

Get the feedback device ID.

Returns: The feedback device ID.

◆ GetI()

float PIDController::GetI ( uint8_t slot )

Get the Integral (I) gain.

Parameters

slot	The PID slot (0-3).

Returns: The I gain value.

◆ GetIMaxAccum()

float PIDController::GetIMaxAccum ( uint8_t slot )

Get the maximum accumulated integral for the PID controller.

Parameters

slot	The PID slot (0-3).

Returns: The maximum accumulated integral value.

◆ GetIZone()

float PIDController::GetIZone ( uint8_t slot )

Get the Integral Zone (I-Zone).

Parameters

slot	The PID slot (0-3).

Returns: The I-Zone value.

◆ GetOutputMax()

float PIDController::GetOutputMax ( uint8_t slot )

Get the maximum output range.

Parameters

slot	The PID slot (0-3).

Returns: The maximum output value.

◆ GetOutputMin()

float PIDController::GetOutputMin ( uint8_t slot )

Get the minimum output range.

Parameters

slot	The PID slot (0-3).

Returns: The minimum output value.

◆ GetP()

float PIDController::GetP ( uint8_t slot )

Get the Proportional (P) gain.

Parameters

slot	The PID slot (0-3).

Returns: The P gain value.

◆ GetPositionPIDMaxInput()

float PIDController::GetPositionPIDMaxInput ( )

Get the maximum input for position PID control.

Returns: The maximum input value.

◆ GetPositionPIDMinInput()

float PIDController::GetPositionPIDMinInput ( )

Get the minimum input for position PID control.

Returns: The minimum input value.

◆ GetPositionPIDWrapEnable()

bool PIDController::GetPositionPIDWrapEnable ( )

Get whether position PID wrap is enabled.

Returns: True if enabled, false otherwise.

◆ GetSlot3Placeholder1()

float PIDController::GetSlot3Placeholder1 ( uint8_t slot )

Get the value of slot 3 placeholder 1.

Parameters

slot	The PID slot (0-3).

Returns: The value of slot 3 placeholder 1.

◆ GetSlot3Placeholder2()

float PIDController::GetSlot3Placeholder2 ( uint8_t slot )

Get the value of slot 3 placeholder 2.

Parameters

slot	The PID slot (0-3).

Returns: The value of slot 3 placeholder 2.

◆ GetSlot3Placeholder3()

float PIDController::GetSlot3Placeholder3 ( uint8_t slot )

Get the value of slot 3 placeholder 3.

Parameters

slot	The PID slot (0-3).

Returns: The value of slot 3 placeholder 3.

◆ GetSmartMotionAccelStrategy()

float PIDController::GetSmartMotionAccelStrategy ( uint8_t slot )

Get the Smart Motion acceleration strategy.

Parameters

slot	The Smart Motion slot (0-3).

Returns: The acceleration strategy.

◆ GetSmartMotionAllowedClosedLoopError()

float PIDController::GetSmartMotionAllowedClosedLoopError ( uint8_t slot )

Get the allowed closed-loop error for Smart Motion.

Parameters

slot	The Smart Motion slot (0-3).

Returns: The allowed closed-loop error.

◆ GetSmartMotionMaxAccel()

float PIDController::GetSmartMotionMaxAccel ( uint8_t slot )

Get the Smart Motion maximum acceleration.

Parameters

slot	The Smart Motion slot (0-3).

Returns: The maximum acceleration.

◆ GetSmartMotionMaxVelocity()

float PIDController::GetSmartMotionMaxVelocity ( uint8_t slot )

Get the Smart Motion maximum velocity.

Parameters

slot	The Smart Motion slot (0-3).

Returns: The maximum velocity.

◆ GetSmartMotionMinVelOutput()

float PIDController::GetSmartMotionMinVelOutput ( uint8_t slot )

Get the Smart Motion minimum velocity output.

Parameters

slot	The Smart Motion slot (0-3).

Returns: The minimum velocity output.

◆ SetD()

void PIDController::SetD	(	uint8_t	slot,
		float	d
	)

Set the Derivative (D) gain.

Parameters

slot	The PID slot (0-3).
d	The D gain value.

◆ SetDFilter()

void PIDController::SetDFilter	(	uint8_t	slot,
		float	dFilter
	)

Set the Derivative Filter for the PID controller.

Parameters

slot	The PID slot (0-3).
dFilter	The D-Filter value.

◆ SetF()

void PIDController::SetF	(	uint8_t	slot,
		float	f
	)

Set the Feedforward (F) gain.

Parameters

slot	The PID slot (0-3).
f	The F gain value.

◆ SetFeedbackDevice()

void PIDController::SetFeedbackDevice ( uint16_t sensor )

Set the feedback device for the PID controller.

Parameters

sensor The feedback sensor device.

◆ SetI()

void PIDController::SetI	(	uint8_t	slot,
		float	i
	)

Set the Integral (I) gain.

Parameters

slot	The PID slot (0-3).
i	The I gain value.

◆ SetIMaxAccum()

void PIDController::SetIMaxAccum	(	uint8_t	slot,
		float	maxAccum
	)

Set the maximum accumulated integral for the PID controller.

Parameters

slot	The PID slot (0-3).
maxAccum	The maximum accumulated integral value.

◆ SetIZone()

void PIDController::SetIZone	(	uint8_t	slot,
		float	iZone
	)

Set the Integral Zone (I-Zone) for the PID controller.

Parameters

slot	The PID slot (0-3).
iZone	The I-Zone value.

◆ SetOutputMax()

void PIDController::SetOutputMax	(	uint8_t	slot,
		float	max
	)

Set the output maximum for the PID controller.

Parameters

slot	The PID slot (0-3).
max	The maximum output value.

◆ SetOutputMin()

void PIDController::SetOutputMin	(	uint8_t	slot,
		float	min
	)

Set the output minimum for the PID controller.

Parameters

slot	The PID slot (0-3).
min	The minimum output value.

◆ SetP()

void PIDController::SetP	(	uint8_t	slot,
		float	p
	)

Set the Proportional (P) gain.

Parameters

slot	The PID slot (0-3).
p	The P gain value.

◆ SetPositionPIDMaxInput()

void PIDController::SetPositionPIDMaxInput ( float maxInput )

Set the maximum input for position PID control.

Parameters

maxInput The maximum input value.

◆ SetPositionPIDMinInput()

void PIDController::SetPositionPIDMinInput ( float minInput )

Set the minimum input for position PID control.

Parameters

minInput The minimum input value.

◆ SetPositionPIDWrapEnable()

void PIDController::SetPositionPIDWrapEnable ( bool enable )

Enable or disable position PID wrap.

Parameters

enable True to enable, false to disable.

◆ SetReference()

void PIDController::SetReference	(	float	setpoint,
		CtrlType	controlType
	)

Set the controller reference value based on the selected control mode.

Parameters

controlType CtrlType::kDutyCycle for Duty Cycle, CtrlType::kVelocity for Velocity, CtrlType::kVoltage for Voltage, CtrlType::kPosition for Position

◆ SetSlot3Placeholder1()

void PIDController::SetSlot3Placeholder1	(	uint8_t	slot,
		float	value
	)

Set the placeholder parameter in slot 3, position 1.

Parameters

slot	The PID slot (0-3).
value	The value for the placeholder.

◆ SetSlot3Placeholder2()

void PIDController::SetSlot3Placeholder2	(	uint8_t	slot,
		float	value
	)

Set the placeholder parameter in slot 3, position 2.

Parameters

slot	The PID slot (0-3).
value	The value for the placeholder.

◆ SetSlot3Placeholder3()

void PIDController::SetSlot3Placeholder3	(	uint8_t	slot,
		float	value
	)

Set the placeholder parameter in slot 3, position 3.

Parameters

slot	The PID slot (0-3).
value	The value for the placeholder.

◆ SetSmartMotionAccelStrategy()

void PIDController::SetSmartMotionAccelStrategy	(	uint8_t	slot,
		float	strategy
	)

Set the acceleration strategy for Smart Motion.

Parameters

slot	The Smart Motion slot (0-3).
strategy	The acceleration strategy.

◆ SetSmartMotionAllowedClosedLoopError()

void PIDController::SetSmartMotionAllowedClosedLoopError	(	uint8_t	slot,
		float	error
	)

Set the allowed closed-loop error for Smart Motion.

Parameters

slot	The Smart Motion slot (0-3).
error	The allowed closed-loop error.

◆ SetSmartMotionMaxAccel()

void PIDController::SetSmartMotionMaxAccel	(	uint8_t	slot,
		float	maxAccel
	)

Set the Smart Motion maximum acceleration.

Parameters

slot	The Smart Motion slot (0-3).
maxAccel	The maximum acceleration.

◆ SetSmartMotionMaxVelocity()

void PIDController::SetSmartMotionMaxVelocity	(	uint8_t	slot,
		float	maxVel
	)

Set the Smart Motion maximum velocity.

Parameters

slot	The Smart Motion slot (0-3).
maxVel	The maximum velocity.

◆ SetSmartMotionMinVelOutput()

void PIDController::SetSmartMotionMinVelOutput	(	uint8_t	slot,
		float	minVel
	)

Set the Smart Motion minimum velocity output.

Parameters

slot	The Smart Motion slot (0-3).
minVel	The minimum velocity output.

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

/home/grayson/sparkcan/include/PIDController.hpp
/home/grayson/sparkcan/src/PIDController.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PIDController()

Member Function Documentation

◆ GetD()

◆ GetDFilter()

◆ GetF()

◆ GetFeedbackDevice()

◆ GetI()

◆ GetIMaxAccum()

◆ GetIZone()

◆ GetOutputMax()

◆ GetOutputMin()

◆ GetP()

◆ GetPositionPIDMaxInput()

◆ GetPositionPIDMinInput()

◆ GetPositionPIDWrapEnable()

◆ GetSlot3Placeholder1()

◆ GetSlot3Placeholder2()

◆ GetSlot3Placeholder3()

◆ GetSmartMotionAccelStrategy()

◆ GetSmartMotionAllowedClosedLoopError()

◆ GetSmartMotionMaxAccel()

◆ GetSmartMotionMaxVelocity()

◆ GetSmartMotionMinVelOutput()

◆ SetD()

◆ SetDFilter()

◆ SetF()

◆ SetFeedbackDevice()

◆ SetI()

◆ SetIMaxAccum()

◆ SetIZone()

◆ SetOutputMax()

◆ SetOutputMin()

◆ SetP()

◆ SetPositionPIDMaxInput()

◆ SetPositionPIDMinInput()

◆ SetPositionPIDWrapEnable()

◆ SetReference()

◆ SetSlot3Placeholder1()

◆ SetSlot3Placeholder2()

◆ SetSlot3Placeholder3()

◆ SetSmartMotionAccelStrategy()

◆ SetSmartMotionAllowedClosedLoopError()

◆ SetSmartMotionMaxAccel()

◆ SetSmartMotionMaxVelocity()

◆ SetSmartMotionMinVelOutput()