a_pid Struct Reference

instance structure for PID controller More...

#include <pid.h>

Public Member Functions
void	init ()
void	set_kpid (a_real kp_, a_real ki_, a_real kd_)
a_real	run (a_real set, a_real fdb_)
a_real	pos (a_real set, a_real fdb_)
a_real	inc (a_real set, a_real fdb_)
void	zero ()

Data Fields
a_real	kp
a_real	ki
a_real	kd
a_real	summax
a_real	summin
a_real	sum
a_real	outmax
a_real	outmin
a_real	out
a_real	var
a_real	fdb
a_real	err

Detailed Description

instance structure for PID controller

Field Documentation

err

a_real a_pid::err

cache error

fdb

a_real a_pid::fdb

cache feedback

kd

a_real a_pid::kd

derivative constant

ki

a_real a_pid::ki

integral constant

kp

a_real a_pid::kp

proportional constant

out

a_real a_pid::out

controller final output

outmax

a_real a_pid::outmax

maximum final output

outmin

a_real a_pid::outmin

minimum final output

sum

a_real a_pid::sum

controller integral output

summax

a_real a_pid::summax

maximum integral output

summin

a_real a_pid::summin

minimum integral output

var

a_real a_pid::var

cache variable

---

The documentation for this struct was generated from the following file:

• pid.h