iLab Neuromorphic Robotics Toolkit  0.1
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
PIDComponent.H
Go to the documentation of this file.
1 /*! @file
2  @author Unknown
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 #ifndef INCLUDE_NRT_ROBOTICS_COMPONENTS_PIDCOMPONENT_H
35 #define INCLUDE_NRT_ROBOTICS_COMPONENTS_PIDCOMPONENT_H
36 
38 #include <nrt/Core/Typing/Time.H>
40 
41 namespace nrt
42 {
43  namespace pid
44  {
45  static const nrt::ParameterCategory ParamCateg("PID-Related Options");
46  NRT_DECLARE_PARAMETER_WITH_CALLBACK(p, double, "P gain for PID", 0.0, ParamCateg);
47  NRT_DECLARE_PARAMETER_WITH_CALLBACK(i, double, "I gain for PID", 0.0, ParamCateg);
48  NRT_DECLARE_PARAMETER_WITH_CALLBACK(d, double, "D gain for PID", 0.0, ParamCateg);
49  NRT_DECLARE_PARAMETER_WITH_CALLBACK(output_min, double, "min output for PID", 0.0, ParamCateg);
50  NRT_DECLARE_PARAMETER_WITH_CALLBACK(output_max, double, "max output for PID", 0.0, ParamCateg);
51  }
52 
53  class PIDComponent : public nrt::Component,
54  public nrt::Parameter<pid::p, pid::i, pid::d, pid::output_min, pid::output_max>
55  {
56  public:
57  PIDComponent( std::string const & instanceName = "" );
58 
59  void setDesiredValue( double const & desiredValue );
60  void setObservedValue( double const & observedValue );
61 
62  double const & update();
63  double const & update( double const & desiredValue, double const & observedValue );
64 
65  void onParamChange(nrt::pid::p const & param, double const & pp);
66  void onParamChange(nrt::pid::i const & param, double const & ii);
67  void onParamChange(nrt::pid::d const & param, double const & dg);
68  void onParamChange(nrt::pid::output_min const & param, double const & mini);
69  void onParamChange(nrt::pid::output_max const & param, double const & maxi);
70 
71  private:
72  double itsDesiredValue;
73  double itsObservedValue;
74  double itsOutputValue;
75 
76  double itsITerm;
77 
78  double itsLastObservedValue;
79  nrt::Timer itsTimer;
80 
81  bool itsInitializedFlag;
82  };
83 }
84 
85 #endif // INCLUDE_NRT_ROBOTICS_COMPONENTS_PIDCOMPONENT_H