class

CrySpace::PIDController

Constructors

new(kp : Float64, ki : Float64, kd : Float64, tf : Float64 = 0.01, u_min : Float64 = -Float64::INFINITY, u_max : Float64 = Float64::INFINITY)

integral

integral=(integral : Float64)

kd=(kd : Float64)

ki=(ki : Float64)

kp=(kp : Float64)

prev_derivative

prev_derivative=(prev_derivative : Float64)

prev_error

prev_error=(prev_error : Float64)

reset

tf=(tf : Float64)

u_max

u_max=(u_max : Float64)

u_min

u_min=(u_min : Float64)

update(error : Float64, dt : Float64) : Float64

Computes control output u(t) given the error e(t) and time step dt, applying clamping anti-windup to prevent integral windup when saturated.