Application: pMarinePIDx

Brief Synopsis:

A refactored PID controller using new utility classes.

Authors:

  • Michael Benjamin

Groups:

Dependencies:

Distribution:

  • moos-ivp.org

Documentation:

  • Pending

Contact Email:

  • mikerb@mit.edu

Function:

Provides a basic PID controller interface to control heading speed and depth based on incoming desired heading, speed and depth objectives and output on rudder, thrust and elevator fed through three PID controllers. This app differs from its previous version only in implementation. Most of the logic has been repackaged into a utility class so that it may optionally be embedded inside uSimMarineX.

Lines of Code:

  • 391 (with libraries: 23,598)

Files of Code:

  • 5 (with libraries: 183)

Work Years:

  • 0.07 (with libraries: 5.33)