Control.PID

Copyright (C) 2018 Jonathan Lamothe [e-mail]

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this program. If not, see https://www.gnu.org/licenses/.

Types

data Settings a

PID control loop settings

Constructors

Settings

Fields

• _setpoint :: a

  the desired setpoint

• _pFactor :: a

  the proportional factor

• _iFactor :: a

  the integral factor

• _dFactor :: a

  the derivative factor

• _bias :: a

  the output bias

• _isReversed :: Bool

  indicates whether or not the PID output is reversed

• _maxOutput :: a

  the maximum PID output

Instances

Eq a => Eq (Settings a)

Defined in Control.PID

Methods

(==) :: Settings a -> Settings a -> Bool

(/=) :: Settings a -> Settings a -> Bool

Show a => Show (Settings a)

Defined in Control.PID

Methods

showsPrec :: Int -> Settings a -> ShowS

show :: Settings a -> String

showList :: [Settings a] -> ShowS

data Status a

PID control loop status

Constructors

Status

Fields

• _settings :: Settings a

  the PID loop's settings

• _lastError :: a

  the error on the last run of the PID loop

• _lastIntegral :: a

  the accumulated integral (without factor)

Instances

Eq a => Eq (Status a)

Defined in Control.PID

Methods

(==) :: Status a -> Status a -> Bool

(/=) :: Status a -> Status a -> Bool

Show a => Show (Status a)

Defined in Control.PID

Methods

showsPrec :: Int -> Status a -> ShowS

show :: Status a -> String

showList :: [Status a] -> ShowS

Lenses

The Settings and Status types have lenses which are automatically generated by makeLenses. See the lens package for further details.

setpoint :: forall a. Lens' (Settings a) a

pFactor :: forall a. Lens' (Settings a) a

iFactor :: forall a. Lens' (Settings a) a

dFactor :: forall a. Lens' (Settings a) a

bias :: forall a. Lens' (Settings a) a

isReversed :: forall a. Lens' (Settings a) Bool

maxOutput :: forall a. Lens' (Settings a) a

settings :: forall a. Lens' (Status a) (Settings a)

lastError :: forall a. Lens' (Status a) a

lastIntegral :: forall a. Lens' (Status a) a

Default Instances

newSettings :: Fractional a => Settings a

the default PID settings (these will probably need tuning)

newStatus :: Fractional a => Status a

an inital PID state with the default PID settings

Functions

run

Arguments

:: (Ord n, Fractional n)

=> n

the amount of time elapsed since the PID loop was last run

-> n

the current input value

-> Status n

the current PID status

-> (n, Status n)

the output and updated PID status

runs the PID loop

resetIntegral

Arguments

:: Num n

=> Status n

the PID status being reset

-> Status n

the updated PID status

resets the integral of a PID loop