Control.PID

Documentation

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 derivitave 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 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

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

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

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