pidlib.c File Reference

A port of the ROBOTC pidlib library. More...

#include <stdlib.h>
#include <math.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"
#include "pidlib.h"
#include "fastmath.c"

Macros
#define	_LinearizeDrive(x)   PidDriveLut[abs(x)] * sgn(x)
	Macro to optimize LUT access. More...

Functions
pidController *	PidControllerInit (float Kp, float Ki, float Kd, tVexSensors port, int16_t sensor_reverse)
	Initialize the PID controller. More...
pidController *	PidControllerInitWithBias (float Kp, float Ki, float Kd, float Kbias, tVexSensors port, int16_t sensor_reverse)
	Initialize the PID controller - includes bias. More...
int16_t	PidControllerUpdate (pidController *p)
	Update the pid process variables. More...
void	PidControllerMakeLut ()
	Create a power based lut. More...

Detailed Description

A port of the ROBOTC pidlib library.

Macro Definition Documentation

#define _LinearizeDrive

(

x)

PidDriveLut[abs(x)] * sgn(x)

Macro to optimize LUT access.

Function Documentation

pidController* PidControllerInit	(	float	Kp,
		float	Ki,
		float	Kd,
		tVexSensors	port,
		int16_t	sensor_reverse
	)

Initialize the PID controller.

pidController* PidControllerInitWithBias	(	float	Kp,
		float	Ki,
		float	Kd,
		float	Kbias,
		tVexSensors	port,
		int16_t	sensor_reverse
	)

Initialize the PID controller - includes bias.

int16_t PidControllerUpdate

(

pidController *

p)

Update the pid process variables.

void PidControllerMakeLut

(

void

)

Create a power based lut.