HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Data Fields
pid_Pid Struct Reference
Lib / PID regulator

PID regulator structure. More...

`#include <pid.h>`

## Data Fields
float32_t | kp
| Proportional coefficient. More...
float32_t | ki
| Integral coefficient. Disabled if negative or zero. More...
float32_t | kd
| Derivative coefficient. More...
float32_t | arw
| Max value of the integrator ("anti-reset windup"). Disabled if negative or zero. More...
float32_t | previousErr
| Error (current-target) at the previous timestep, for derivative computation. More...
float32_t | integrator
| Integrator value for the integral part of the PID. More...
float32_t | current
| Current state of the system to control. More...
float32_t | target
| Desired state of the system to control. More...
float32_t | command
| Output command computed by the PID regulator. More...
float32_t | feedforward
| Feedforward coefficient. More...

## Detailed Description

PID regulator structure.

## Field Documentation

## ◆ arw

float32_t arw

Max value of the integrator ("anti-reset windup"). Disabled if negative or zero.

## ◆ command

float32_t command

Output command computed by the PID regulator.

## ◆ current

float32_t current

Current state of the system to control.

## ◆ feedforward

float32_t feedforward

Feedforward coefficient.

## ◆ integrator

float32_t integrator

Integrator value for the integral part of the PID.

## ◆ kd

float32_t kd

Derivative coefficient.

## ◆ ki

float32_t ki

Integral coefficient. Disabled if negative or zero.

## ◆ kp

float32_t kp

Proportional coefficient.

## ◆ previousErr

float32_t previousErr

Error (current-target) at the previous timestep, for derivative computation.

## ◆ target

float32_t target

Desired state of the system to control.

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

- src/lib/pid.h