UPIDController

Supported engine version: UE 4.20

Plugin with a PID controller USTRUCT (FPIDController), and a PID controller using FVector in 3 dimensional space (FPIDController3D).

Usage

• Add the plugin to your project (e.g MyProject/Plugins/UPIDController)

• Add the module dependency to your module (Project, Plugin); In the MyModule.Build.cs file:

  PublicDependencyModuleNames.AddRange(  
  new string[]  
  {  
  ...  
  "UPIDController",  
  ...  
  }  
  );  
  

• Include PIDController.h or PIDController3D.h where you plan to use the controller.

• Declare your PID Controller

	/* Control */
	// Left/Right hand location PID controller
	UPROPERTY(EditAnywhere, Category = "Physics Based Motion Controller|Control")
	FPIDController3D LeftLocationPIDController;

• Add the PID values

	/* Control parameters */
	// Location PID default parameters
	LeftLocationPIDController.P = 700.0f;
	LeftLocationPIDController.I= 0.0f;
	LeftLocationPIDController.D = 50.0f;
	LeftLocationPIDController.MaxOutAbs = 35000.f;

	// Init PID -- update function will be optimized if I and/or D are 0
	LeftLocationPIDController.Init();

• Update PID to get the output values:

	// InDeltaTime type float
	// const FVector LeftCurrError = MCLeft->GetComponentLocation() - LeftSkeletalMeshComponent->GetComponentLocation();
	const FVector LeftLocOutput = LeftLocationPIDController.Update(LeftCurrError, InDeltaTime);