PIDMC Class Reference
A nice little MotionCommand for manually manipulating the PID values. More...
#include <PIDMC.h>
Detailed Description
A nice little MotionCommand for manually manipulating the PID values.
This will, by default, autoprune after its PID values have been set.
Although this doesn't handle directly sending PID commands to the system (the MotionManager::updatePIDs() does that) a little documentation on how Tekkotsu ad OPEN-R handle the PIDs might be nice.
In Tekkotsu, each of P,I, and D are a single floating point number. However, OPEN-R has, in essence, a limited precision floating point number. Each value is broken into a gain (mantissa) and shift (exponent). The shifts appear to be 4 bit values, and are inverted. In other words, x = g/(1<<(0x10-s)), or 
The gain is probably 6-8 bits of resolution.
On the ERS-2xx series, each joint is completely independent. One caveat is that the shift value 0x0A gives a warning (AGRMSDriver::SetGain() : 0x0A IS USED FOR GAIN SHIFT VALUE.) for some unknown reason.
On the ERS-7, all the joints share the last set shift values, so a global set of shifts must be enforced. This of course, pretty much kills the whole point of having the shifts.
To understand the conversion from Tekkotsu format to the OPEN-R format, see MotionManager::updatePIDs().
A final note: the OPENR::SetJointGain function seems to be a rather costly function call. You should probably try to avoid setting PIDs at too high a frequency.
Definition at line 42 of file PIDMC.h.
Public Member Functions | |
| PIDMC () | |
| Constructor, uses default PIDs and 0 weight for all. | |
| PIDMC (float powerlevel, float w=1) | |
| Constructor, sets general power level of all. | |
| PIDMC (unsigned int low, unsigned int high, float powerlevel, float w=1) | |
| Constructor, sets general power level of a range of joints, uses default and 0 weight for others, see setRangePowerLevel(). | |
| virtual | ~PIDMC () |
| Destructor. | |
| void | setDefaults (float weight=1) |
| Sets the PIDs to the defaults specified in RobotInfo. | |
| void | setJointPowerLevel (unsigned int i, float p, float w=1) |
| Sets the PIDs to a percentage of default for a given joint, and sets weight. | |
| void | setAllPowerLevel (float p, float w=1) |
| Sets the PIDs to a percentage of default for all joints. | |
| void | setRangePowerLevel (unsigned int low, unsigned int high, float p, float w=1) |
| Sets a range of joints' PIDs to a given power level and weight. | |
| void | setPID (unsigned int i, const OutputPID &pid) |
| Use this to set the PID value and weight. | |
| OutputPID & | getPID (unsigned int i) |
| Use this if you want to double check the PID you set. | |
| const OutputPID & | getPID (unsigned int i) const |
| Use this if you want to double check the PID you set. | |
| virtual int | updateOutputs () |
| Inherited. | |
| virtual int | isDirty () |
| Inherited. | |
| virtual int | isAlive () |
| Inherited. | |
| void | setDirty () |
| Inherited. | |
| virtual void | doStart () |
| marks this as dirty each time it is added | |
Static Protected Member Functions | |
| static bool | isPID (unsigned int i) |
| returns true if the output i is a PID joint | |
Protected Attributes | |
| bool | dirty |
| true if there are changes that have not been picked up by Motion | |
| bool | completionReported |
| true if we've reported completion of this motion command | |
| OutputPID | PIDs [NumPIDJoints] |
| the PIDs being requested | |
Constructor & Destructor Documentation
| PIDMC::PIDMC | ( | ) |
Constructor, sets general power level of a range of joints, uses default and 0 weight for others, see setRangePowerLevel().
- Parameters:
-
low the first joint to apply powerlevel to high one-past last joint to apply powerlevel to (i.e. exclusive upper limit) powerlevel scaling factor for all of the default PID parameters w MotionManager weight for averaging conflicting commands
Note that if you want to set a single joint i, then low = i, and high = i + 1 because high is an exclusive upper limit
Member Function Documentation
| virtual void PIDMC::doStart | ( | ) | [virtual] |
marks this as dirty each time it is added
Reimplemented from MotionCommand.
| const OutputPID& PIDMC::getPID | ( | unsigned int | i | ) | const |
| OutputPID& PIDMC::getPID | ( | unsigned int | i | ) |
| virtual int PIDMC::isAlive | ( | ) | [virtual] |
| virtual int PIDMC::isDirty | ( | ) | [virtual] |
| static bool PIDMC::isPID | ( | unsigned int | i | ) | [static, protected] |
Sets the PIDs to a percentage of default for all joints.
Definition at line 111 of file PIDMC.h.
Referenced by PIDMC(), and setDefaults().
| void PIDMC::setDefaults | ( | float | weight = 1 |
) |
| void PIDMC::setPID | ( | unsigned int | i, | |
| const OutputPID & | pid | |||
| ) |
Sets a range of joints' PIDs to a given power level and weight.
- Parameters:
-
low the first joint to apply power level p to high one-past last joint to apply power level p to (i.e. exclusive upper limit) p scaling factor for all of the default PID parameters w MotionManager weight for averaging conflicting commands
Note that if you want to set a single joint i with this function (as opposed to setJointPowerLevel() which is designed for that...) then you would need to pass low = i, and high = i + 1 because high is an exclusive upper limit
Definition at line 128 of file PIDMC.h.
Referenced by PIDMC().
| virtual int PIDMC::updateOutputs | ( | ) | [virtual] |
Member Data Documentation
bool PIDMC::completionReported [protected] |
true if we've reported completion of this motion command
Definition at line 164 of file PIDMC.h.
Referenced by doStart(), and updateOutputs().
bool PIDMC::dirty [protected] |
true if there are changes that have not been picked up by Motion
Definition at line 163 of file PIDMC.h.
Referenced by doStart(), isAlive(), isDirty(), PIDMC(), setAllPowerLevel(), setDirty(), setJointPowerLevel(), setPID(), setRangePowerLevel(), and updateOutputs().
OutputPID PIDMC::PIDs[NumPIDJoints] [protected] |
the PIDs being requested
Definition at line 165 of file PIDMC.h.
Referenced by getPID(), setAllPowerLevel(), setJointPowerLevel(), setPID(), setRangePowerLevel(), and updateOutputs().
The documentation for this class was generated from the following file:
