a_pid Struct Reference

instance structure for PID controller More...

#include <pid.h>

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

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

Detailed Description

instance structure for PID controller

Field Documentation

err

a_float a_pid::err

cache error

fdb

a_float a_pid::fdb

cache feedback

kd

a_float a_pid::kd

derivative constant

ki

a_float a_pid::ki

integral constant

kp

a_float a_pid::kp

proportional constant

out

a_float a_pid::out

controller final output

outmax

a_float a_pid::outmax

maximum final output

outmin

a_float a_pid::outmin

minimum final output

sum

a_float a_pid::sum

controller integral output

summax

a_float a_pid::summax

maximum integral output

summin

a_float a_pid::summin

minimum integral output

var

a_float a_pid::var

cache variable

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

• pid.h