ControlBoardPid.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/dev/api.h>
 
#ifndef YARP_DEV_CONTROLBOARDPID_H
#define YARP_DEV_CONTROLBOARDPID_H
 
namespace yarp{
    namespace dev{
        class Pid;
    }
}
 
class YARP_dev_API yarp::dev::Pid
{
public:
    double kp;                 
    double kd;                 
    double ki;                 
    double max_int;            
    double scale;              
    double max_output;         
    double offset;             
    double stiction_up_val;    
    double stiction_down_val;  
    double kff;                
 
public:
    Pid();
 
    ~Pid();
 
    Pid(double kp, double kd, double ki, double int_max, double scale, double out_max);
 
    Pid(double kp, double kd, double ki,
        double int_max, double scale, double out_max, double st_up, double st_down, double kff);
 
    void setKp(double p);
 
    void setKi(double i);
 
    void setKd(double d);
 
    void setMaxInt(double m);
 
    void setScale(double sc);
 
    void setMaxOut(double m);
 
    void setOffset(double o);
 
    void setStictionValues(double up_value, double down_value);
 
    void setKff(double Kff);
 
    bool operator==(const yarp::dev::Pid &p) const;
 
    void clear();
};
 
#endif // YARP_DEV_CONTROLBOARDPID_H