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Structure to hold all data for one instance of a PID controller. More...
#include <pidlib.h>
Data Fields | |
| int16_t | enabled |
| enable or diable pid calculations More... | |
| int16_t | res1 |
| word alignment of Kp More... | |
| float | Kp |
| proportional constant More... | |
| float | Ki |
| integral constant More... | |
| float | Kd |
| derivative constant More... | |
| float | Kbias |
| bias constant More... | |
| float | error |
| error between actual pisition and target More... | |
| float | last_error |
| error last time update called More... | |
| float | integral |
| integrated error More... | |
| float | integral_limit |
| limit for integrated error More... | |
| float | derivative |
| change in error from last time More... | |
| float | error_threshold |
| threshold below which error is ignored More... | |
| float | drive |
| calculated motor drive in range +/- 1.0 More... | |
| int16_t | drive_raw |
| motor drive in the range +/- 127 More... | |
| int16_t | drive_cmd |
| linearized motor drive in the range +/- 127 More... | |
| tVexSensors | sensor_port |
| digital or analog port with the position sensor More... | |
| int16_t | sensor_reverse |
| flag indicating the sensor values should be reversed More... | |
| int32_t | sensor_value |
| current value of the position sensor More... | |
| int32_t | target_value |
| the target value More... | |
Structure to hold all data for one instance of a PID controller.
| int16_t enabled |
enable or diable pid calculations
| int16_t res1 |
word alignment of Kp
| float Kp |
proportional constant
| float Ki |
integral constant
| float Kd |
derivative constant
| float Kbias |
bias constant
| float error |
error between actual pisition and target
| float last_error |
error last time update called
| float integral |
integrated error
| float integral_limit |
limit for integrated error
| float derivative |
change in error from last time
| float error_threshold |
threshold below which error is ignored
| float drive |
calculated motor drive in range +/- 1.0
| int16_t drive_raw |
motor drive in the range +/- 127
| int16_t drive_cmd |
linearized motor drive in the range +/- 127
| tVexSensors sensor_port |
digital or analog port with the position sensor
| int16_t sensor_reverse |
flag indicating the sensor values should be reversed
| int32_t sensor_value |
current value of the position sensor
| int32_t target_value |
the target value
1.8.4 
