VE Lua Documentation

newPIDStandard

Definition

-- @/lua/common/controlSystems.lua:108

--Usage:
--local myPID = newPIDStandard(1, 0.5, 0.1, 0, 1)
--local control = myPID:get(processVariable, setPoint, dt)
--This PID uses derivative calculation based on the process variable rather than the error to avoid spikes when changing the setpoint
function newPIDStandard(kP, tI, tD, minOutput, maxOutput, integralInCoef, integralOutCoef, minIntegral, maxIntegral, errorDeadzone)
  local data = {
    kP = kP,
    tICoef = tI > 0 and 1 / tI or 0, --integral time - try to eliminate past errors within this time, pre-calculate the 1 / tI for optimization purposes
    tD = tD, -- derivative time - try to predict error this time in the future
    error = 0,
    integral = 0,
    output = 0,
    integralInCoef = integralInCoef or 1,
    integralOutCoef = integralOutCoef or 1,
    lastProcessVariable = 0,
    minOutput = minOutput or -math.huge,
    maxOutput = maxOutput or math.huge,
    errorDeadzone = errorDeadzone or 0.0,
    get = PIDStandard.getMethod
  }
  data.maxIntegral = maxIntegral or data.maxOutput
  data.minIntegral = minIntegral or -data.maxIntegral
  setmetatable(data, PIDStandard)
  return data
end

Callers

--Usage:
--local myPID = newPIDStandard(1, 0.5, 0.1, 0, 1)
--local control = myPID:get(processVariable, setPoint, dt)

local throttleSmooth = newTemporalSmoothing(200, 200)
local speedPID = newPIDStandard(0.3, 2, 0.0, 0, 1, 1, 1, 0, 1)
--speedPID:setDebug(true)