Implements a simple, header-only Proportional-Integral-Derivative (PID) controller. More...

#include <PIDController.h>

Public Member Functions
bool	begin (N dt, N min, N max, N kp, N ki, N kd)

void	setDt (N dt)

N	calculate (N target, N measured)

Protected Attributes
N	dt = 1.0f

N	max = 0.0f

N	min = 0.0f

N	kp = 0.0f

N	kd = 0.0f

N	ki = 0.0f

N	preerror = 0.0f

N	integral = 0.0f

Detailed Description

template<class N = float>
class tinyrobotics::PIDController< N >

Implements a simple, header-only Proportional-Integral-Derivative (PID) controller.

This class provides a basic PID controller for closed-loop control of processes such as motors, temperature, position, and more. The controller computes a control output based on the error between a target setpoint and a measured process value, using configurable proportional, integral, and derivative gains.

Features

Simple API: begin() to configure, calculate() to compute control output
Supports output clamping (min/max)
Suitable for real-time and embedded systems
All state is internal; no dynamic memory allocation

Usage Example

PIDController pid;
pid.begin(0.01, 255, 0, 1.0, 0.5, 0.1); // dt, max, min, kp, ki, kd
N control = pid.calculate(target, measured);

Parameters

dt: Loop interval time (seconds)
max: Maximum output value
min: Minimum output value
kp: Proportional gain
ki: Integral gain
kd: Derivative gain

Methods

begin(dt, max, min, kp, ki, kd): Initialize controller parameters
calculate(target, measured): Compute control output for current error

Applications

Motor speed and position control
Temperature regulation
Robotics and automation
Any process requiring feedback control

Author: Phil Schatzmann

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

src/TinyRobotics/control/PIDController.h