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Public Member Functions |
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| OutputPID () |
| | Constructor.
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| OutputPID (const float p[3]) |
| | Constructor, allows non-explicit conversion.
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| OutputPID (const float p[3], float w) |
| | Constructor.
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| OutputPID (const float p, const float i, const float d, float w) |
| | Constructor.
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| OutputPID (const OutputPID &a, const OutputPID &b, float w) |
| | Constructor, see set(a,b,w).
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void | set (const float p[3], float w=1) |
| | sets the value to v and weight to w
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void | set (const float p, const float i, const float d, float w=1) |
| | sets the value to v and weight to w
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void | set (const OutputPID &a, const OutputPID &b, float w) |
| | sets the value to a weighted average of a and b (higher w, more a)
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void | unset () |
| | sets value and weight to 0
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Public Attributes |
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float | pid [3] |
| | pid value of the output
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float | weight |
| | weight to be used in averaging, 0 to "fall through"
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Protected Member Functions |
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void | set_pid (const float p[3]) |
| | handy utility function, sets pid[0:2] to p[0:2]
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void | set_pid (const float p, const float i, const float d) |
| | handy utility function, sets pid[0:2] to [p,i,d]
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