PidTuningParameters Struct Reference

Structure to hold PID tuning parameters. More...

#include <PidTuningParameters.h>

Public Member Functions
constexpr	PidTuningParameters (uint8_t kp=1U, uint8_t ki=1U, uint8_t kd=1U)
	Construct a new PidTuningParameters object.
int32_t	compute (int32_t proportional, int32_t integral, int32_t derivative) const
	Basic PID calculation.

Public Attributes
int16_t	Kp
	Proportional Tuning Parameter.
int16_t	Ki
	Integral Tuning Parameter.
int16_t	Kd
	Derivative Tuning Parameter.

Friends
constexpr PidTuningParameters	operator* (const PidTuningParameters &params, int8_t scalar)
	Scalar multiplication operator for easy tuning adjustments.
constexpr PidTuningParameters	operator* (int8_t scalar, const PidTuningParameters &params)
	Scalar multiplication operator for easy tuning adjustments.
constexpr PidTuningParameters	operator/ (const PidTuningParameters &params, int8_t scalar)
	Scalar division operator for easy tuning adjustments.
constexpr PidTuningParameters	operator/ (int8_t scalar, const PidTuningParameters &params)
	Scalar division operator for easy tuning adjustments.

Detailed Description

Structure to hold PID tuning parameters.

Constructor & Destructor Documentation

PidTuningParameters()

constexpr PidTuningParameters::PidTuningParameters ( uint8_t  kp = 1U, uint8_t  ki = 1U, uint8_t  kd = 1U  )

inlineexplicitconstexpr

Construct a new PidTuningParameters object.

Note

The parameters are uint8_t for memory efficiency, but are stored as int16_t to allow for a wide range of tuning values. They can be scaled as needed using the provided operators or by adjusting the tunings directly.

Parameters

kp	Proportional tuning parameter (default 1)
ki	Integral tuning parameter (default 1)
kd	Derivative tuning parameter (default 1)

Member Function Documentation

compute()

int32_t PidTuningParameters::compute ( int32_t  proportional, int32_t  integral, int32_t  derivative  ) const

inline

Basic PID calculation.

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Friends And Related Symbol Documentation

operator* [1/2]

constexpr PidTuningParameters operator* ( const PidTuningParameters &  params, int8_t  scalar  )

friend

Scalar multiplication operator for easy tuning adjustments.

operator* [2/2]

constexpr PidTuningParameters operator* ( int8_t  scalar, const PidTuningParameters &  params  )

friend

Scalar multiplication operator for easy tuning adjustments.

operator/ [1/2]

constexpr PidTuningParameters operator/ ( const PidTuningParameters &  params, int8_t  scalar  )

friend

Scalar division operator for easy tuning adjustments.

operator/ [2/2]

constexpr PidTuningParameters operator/ ( int8_t  scalar, const PidTuningParameters &  params  )

friend

Scalar division operator for easy tuning adjustments.

Member Data Documentation

Kd

int16_t PidTuningParameters::Kd

Derivative Tuning Parameter.

Ki

int16_t PidTuningParameters::Ki

Integral Tuning Parameter.

Kp

int16_t PidTuningParameters::Kp

Proportional Tuning Parameter.

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

• speeduino/src/PID/PidTuningParameters.h