pid

A Proportional–Integral–Derivative controller (PID) controller implementation in C++. See here for more details on PID controllers.

Build

First clone the repository

• (ssh) git clone [email protected]:lbr-stack/pid.git
• (https) git clone https://github.com/lbr-stack/pid.git

Then build library and examples using the following.

cd pid
mkdir build
cd build
cmake ..
cmake --build .

The example executables can be found in the build/ directory. If you don't want to build the examples, then ensure the cmake option PID_BUILD_EXAMPLES is set to OFF.

Visualize output from examples

When you run each of the examples, a CSV file is written containing the data from the example. You can plot these by using the plot_examples.py script.

This script requires you to install pandas and matplotlib:

pip install pandas matplotlib

You need to run the examples at least once in order to plot the results.