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| FloatFieldType & | kP () |
| | Proportional PID gain. More...
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| const FloatFieldType & | kP () const |
| | Proportional PID gain. More...
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| FloatFieldType & | kI () |
| | Integral PID gain. More...
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| const FloatFieldType & | kI () const |
| | Integral PID gain. More...
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| FloatFieldType & | kD () |
| | Derivative PID gain. More...
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| const FloatFieldType & | kD () const |
| | Derivative PID gain. More...
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| FloatFieldType & | feedForward () |
| | Feed forward term (this term is multiplied by the target and added to the output). More...
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| const FloatFieldType & | feedForward () const |
| | Feed forward term (this term is multiplied by the target and added to the output). More...
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| FloatFieldType & | deadZone () |
| | Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...
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| const FloatFieldType & | deadZone () const |
| | Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error). More...
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| FloatFieldType & | iClamp () |
| | Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...
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| const FloatFieldType & | iClamp () const |
| | Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number. More...
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| FloatFieldType & | punch () |
| | Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...
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| const FloatFieldType & | punch () const |
| | Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative. More...
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| FloatFieldType & | minTarget () |
| | Minimum allowed value for input to the PID controller. More...
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| const FloatFieldType & | minTarget () const |
| | Minimum allowed value for input to the PID controller. More...
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| FloatFieldType & | maxTarget () |
| | Maximum allowed value for input to the PID controller. More...
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| const FloatFieldType & | maxTarget () const |
| | Maximum allowed value for input to the PID controller. More...
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| FloatFieldType & | targetLowpass () |
| | A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...
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| const FloatFieldType & | targetLowpass () const |
| | A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...
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| FloatFieldType & | minOutput () |
| | Output from the PID controller is limited to a minimum of this value. More...
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| const FloatFieldType & | minOutput () const |
| | Output from the PID controller is limited to a minimum of this value. More...
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| FloatFieldType & | maxOutput () |
| | Output from the PID controller is limited to a maximum of this value. More...
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| const FloatFieldType & | maxOutput () const |
| | Output from the PID controller is limited to a maximum of this value. More...
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| FloatFieldType & | outputLowpass () |
| | A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...
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| const FloatFieldType & | outputLowpass () const |
| | A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a). More...
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| BoolFieldType & | dOnError () |
| | Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output. More...
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| const BoolFieldType & | dOnError () const |
| | Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output. More...
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template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::deadZone |
( |
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inline |
Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::deadZone |
( |
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const |
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inline |
Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::iClamp |
( |
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inline |
Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::iClamp |
( |
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const |
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inline |
Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::punch |
( |
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const |
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inline |
Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::targetLowpass |
( |
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inline |
A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::targetLowpass |
( |
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const |
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inline |
A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::outputLowpass |
( |
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inline |
A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const FloatFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::outputLowpass |
( |
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const |
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inline |
A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| BoolFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::dOnError |
( |
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inline |
Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.
template<typename MessageType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>
| const BoolFieldType& hebi::Gains< MessageType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::dOnError |
( |
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const |
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inline |
Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.
1.8.11 
