Class ZOPIDController

Proportional Integral Derivative (PID) controller.

Inheritance
System.Object
ZOPIDController
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Namespace: ZO.Physics
Assembly: Unity.ZeroSim.dll
Syntax
[Serializable]
public class ZOPIDController : ZOSerializationInterface

Fields

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_deadBandEpsilon

Declaration
[Tooltip("Deadband")]
public float _deadBandEpsilon
Field Value
Type Description
System.Single
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_Kd

Declaration
[Tooltip("Derivative constant (fights oscillation)")]
public float _Kd
Field Value
Type Description
System.Single
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_Ki

Declaration
[Tooltip("Integral constant (counters cumulated error)")]
public float _Ki
Field Value
Type Description
System.Single
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_Kp

Declaration
[Tooltip("Proportional constant (counters current error)")]
public float _Kp
Field Value
Type Description
System.Single
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_maximumOutputValue

Declaration
[Tooltip("Maximum Output Value")]
public float _maximumOutputValue
Field Value
Type Description
System.Single
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_name

Declaration
public string _name
Field Value
Type Description
System.String
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_output

Declaration
public float _output
Field Value
Type Description
System.Single
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_setPoint

Declaration
[Tooltip("Set point value")]
public float _setPoint
Field Value
Type Description
System.Single

Properties

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DeadBandEpsilon

Deadband area where if value jump around we consider the PID converged to the set point.

Declaration
public float DeadBandEpsilon { get; set; }
Property Value
Type Description
System.Single
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IsAtDeadBand

Determines if we are within the deadband epsilon area. DeadBandEpsilon

Declaration
public bool IsAtDeadBand { get; }
Property Value
Type Description
System.Boolean
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JSON

Declaration
public JObject JSON { get; }
Property Value
Type Description
Newtonsoft.Json.Linq.JObject
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Kd

Derivative

Declaration
public float Kd { get; set; }
Property Value
Type Description
System.Single
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Ki

Integral

Declaration
public float Ki { get; set; }
Property Value
Type Description
System.Single
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Kp

Proportional

Declaration
public float Kp { get; set; }
Property Value
Type Description
System.Single
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MaximumOutputValue

Maximum output value that we clamp to.

Declaration
public float MaximumOutputValue { get; set; }
Property Value
Type Description
System.Single
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Name

Declaration
public string Name { get; }
Property Value
Type Description
System.String
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SetPoint

PID set point. The value it is trying to "get" to.

Declaration
public float SetPoint { get; set; }
Property Value
Type Description
System.Single
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Type

Declaration
public string Type { get; }
Property Value
Type Description
System.String

Methods

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Deserialize(ZOSimDocumentRoot, JObject)

Declaration
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
Newtonsoft.Json.Linq.JObject json
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Serialize(ZOSimDocumentRoot, Object)

Declaration
public JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
UnityEngine.Object parent
Returns
Type Description
Newtonsoft.Json.Linq.JObject
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Update(Single, Single)

Declaration
public float Update(float current, float dt)
Parameters
Type Name Description
System.Single current
System.Single dt
Returns
Type Description
System.Single

Implements