Copyright	Jonathan Lamothe
License	LGPL-3
Maintainer	jlamothe1980@gmail.com
Safe Haskell	None
Language	Haskell2010

Control.PID

Contents

Types
Lenses
Default Instances
Functions

Description

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/.

Synopsis

data Settings a = Settings {
- _setpoint :: a
- _pFactor :: a
- _iFactor :: a
- _dFactor :: a
- _bias :: a
- _isReversed :: Bool
- _maxOutput :: a
}
data Status a = Status {
- _settings :: Settings a
- _lastError :: a
- _lastIntegral :: a
}
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
newStatus :: Fractional a => Status a
run :: (Ord n, Fractional n) => n -> n -> Status n -> (n, Status n)
resetIntegral :: Num n => Status n -> Status n

Types

data Settings a Source #

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) Source #
Instance details Defined in Control.PID Methods (==) :: Settings a -> Settings a -> Bool # (/=) :: Settings a -> Settings a -> Bool #
Show a => Show (Settings a) Source #
Instance details Defined in Control.PID Methods showsPrec :: Int -> Settings a -> ShowS # show :: Settings a -> String # showList :: [Settings a] -> ShowS #

data Status a Source #

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) Source #
Instance details Defined in Control.PID Methods (==) :: Status a -> Status a -> Bool # (/=) :: Status a -> Status a -> Bool #
Show a => Show (Status a) Source #
Instance details 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 Source #

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

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

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

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

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

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

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

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

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

Default Instances

newSettings :: Fractional a => Settings a Source #

the default PID settings (these will probably need tuning)

newStatus :: Fractional a => Status a Source #

an inital PID state with the default PID settings

Functions

run Source #

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 Source #

Arguments

:: Num n
=> Status n	the PID status being reset
-> Status n	the updated PID status

resets the integral of a PID loop