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

Data Fields