A port of the ROBOTC pidlib library, macros and prototypes. More...

Data Structures
struct	_pidController
	Structure to hold all data for one instance of a PID controller. More...

Macros
#define	kPidLibVersion 102
	Current pidlib Version is 1.02. More...

#define	PIDLIB_USE_DYNAMIC 1
	Use heap for pid controller data rather than static data. More...

#define	MAX_PID 4
	Allow 4 pid controllers. More...

#define	PIDLIB_LUT_SIZE 128
	size of linearizing table More...

#define	PIDLIB_LUT_FACTOR 20.0
	severity pf the linearize power function More...

#define	PIDLIB_LUT_OFFSET 10
	offset below which the linearize function is not used More...

#define	PIDLIB_INTEGRAL_DRIVE_MAX 0.25
	This causes the motor never to be given more than a 0.25 drive command due to integral. More...

Typedefs
typedef struct _pidController	pidController
	Structure to hold all data for one instance of a PID controller. 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 (void)
	Create a power based lut. More...

Detailed Description

A port of the ROBOTC pidlib library, macros and prototypes.

Macro Definition Documentation

#define kPidLibVersion 102

Current pidlib Version is 1.02.

#define PIDLIB_USE_DYNAMIC 1

Use heap for pid controller data rather than static data.

#define MAX_PID 4

Allow 4 pid controllers.

#define PIDLIB_LUT_SIZE 128

size of linearizing table

#define PIDLIB_LUT_FACTOR 20.0

severity pf the linearize power function

#define PIDLIB_LUT_OFFSET 10

offset below which the linearize function is not used

#define PIDLIB_INTEGRAL_DRIVE_MAX 0.25

This causes the motor never to be given more than a 0.25 drive command due to integral.

Structure to hold all data for one instance of a PID controller.

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.