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

pid.h
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1 /*
2 * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #ifndef __PID_H
18 #define __PID_H
19
20 #include "../main.h"
21
37 typedef struct
38 {
39 float32_t kp,
40 ki,
41 kd,
42 arw,
43 previousErr,
44 integrator,
45 current,
46 target,
47 command,
48 feedforward;
49 } pid_Pid;
50
51 void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd,
52 float32_t arw, float32_t feedforward);
53 float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt);
54
59 #endif
pid_Pid
PID regulator structure.
Definition: pid.h:37
pid_Init
void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, float32_t arw, float32_t feedforward)
Initialize the PID structure.
Definition: pid.c:29
pid_Pid::target
float32_t target
Desired state of the system to control.
Definition: pid.h:39
pid_Step
float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt)
Step the PID structure.
Definition: pid.c:49