LSST::M1M3::SS::PID Class Reference

Implements PID discrete time controller. More...

#include <PID.h>

Public Member Functions
	PID (int id, PIDParameters parameters)
	Constructs PID.
void	updateParameters (PIDParameters parameters)
	Update PID parameters.
void	restoreInitialParameters ()
void	resetPreviousValues ()
double	process (double setpoint, double measurement)
	Run PID calculations, produce output.
void	freeze ()
	Keep constant PID output.
void	thaw ()
	Remove PID freeze flag.
double	getOffset (bool *changed)
void	publishTelemetry ()

Detailed Description

Implements PID discrete time controller.

Used for filtering forces measured from hardpoints for balance force component corrections to force actuators.

See PID discussion at Confluence for details. The PID Implementation in Software has details about the calculations.

See also

LSST::M1M3::SS::BalanceForceComponent

Constructor & Destructor Documentation

PID()

PID::PID	(	int	id,
		PIDParameters	parameters )

Constructs PID.

Parameters

id	member ID. Index to fx,fy,fz and mx,my,mz
parameters	PID parameters struct
publisher	SAL interface

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Member Function Documentation

freeze()

void PID::freeze

(

)

Keep constant PID output.

Used during slews.

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

• PID/PID.h
• PID/PID.cpp