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<li class="navelem"><a class="el" href="dir_99d3723365464dd656f512988bb8dbbd.html">algorithm</a></li>  </ul>
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<a href="pid_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/**************************************************************************/</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#ifndef MINIFOC_ALGORITHM_PID_H_</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#define MINIFOC_ALGORITHM_PID_H_</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">   14</a></span><span class="preprocessor">#define TORQUE_LOOP_CONTROL     1</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="pid_8h.html#aa5ef3ead33ee14a82e7ee277d31e02d1">   16</a></span><span class="preprocessor">#define SPEED_LOOP_CONTROL      2</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="pid_8h.html#a7dad3a985101eaec7ac078f43747c928">   18</a></span><span class="preprocessor">#define ANGLE_LOOP_CONTROL      3</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html">   24</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">   25</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>;           </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">   26</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">ki</a>;           </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">   27</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a>;           </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a5f567aec72ce48f24c2dbc06dcfa3a09">   28</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a5f567aec72ce48f24c2dbc06dcfa3a09">summary</a>;      </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">   29</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">expect</a>;       </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a466d4dab1bd38a43438c2e5e6ad5534e">   30</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a466d4dab1bd38a43438c2e5e6ad5534e">maximum</a>;      </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a1fac701369b1197497f7c698ad74386d">   31</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a1fac701369b1197497f7c698ad74386d">minimum</a>;      </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">   32</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">sum_maximum</a>;  </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="struct_p_i_d___structure__t.html#a53bf2ded26ca455e1227890c20123cd9">   33</a></span>    <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_p_i_d___structure__t.html#a53bf2ded26ca455e1227890c20123cd9">last_error</a>;   </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>} <a class="code hl_struct" href="struct_p_i_d___structure__t.html">PID_Structure_t</a>;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">extern</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code hl_variable" href="pid_8h.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a>;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code hl_variable" href="pid_8h.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a>;</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="keyword">extern</span> <span class="keyword">volatile</span> <a class="code hl_struct" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> <a class="code hl_variable" href="pid_8h.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>;</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keyword">extern</span> <span class="keyword">volatile</span> <a class="code hl_struct" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> <a class="code hl_variable" href="pid_8h.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keywordtype">void</span> <a class="code hl_function" href="pid_8h.html#a58a093011af03fae7427eb1980434a5e">pid_config</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> mode);</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="keywordtype">float</span> <a class="code hl_function" href="pid_8h.html#abe6a9dce63d0eaad5a10d4c8c5ffcd07">pid_calculate_result</a>(<a class="code hl_struct" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> *pid_handler, <span class="keywordtype">float</span> collect);</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#endif </span><span class="comment">//MINIFOC_ALGORITHM_PID_H_</span></div>
<div class="ttc" id="apid_8h_html_a2c7bcbec66fa40a2347b1cd253a5ae82"><div class="ttname"><a href="pid_8h.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a></div><div class="ttdeci">volatile unsigned char pid_control_mode_flag</div><div class="ttdoc">flag variable of PID closed loop mode</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00020">pid.c:20</a></div></div>
<div class="ttc" id="apid_8h_html_a48934d9569b54761658f7fe0484db10c"><div class="ttname"><a href="pid_8h.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a></div><div class="ttdeci">unsigned char pid_parameter_available_flag</div><div class="ttdoc">flag variable for PID parameter availability</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00016">pid.c:16</a></div></div>
<div class="ttc" id="apid_8h_html_a58a093011af03fae7427eb1980434a5e"><div class="ttname"><a href="pid_8h.html#a58a093011af03fae7427eb1980434a5e">pid_config</a></div><div class="ttdeci">void pid_config(unsigned char mode)</div><div class="ttdoc">configure pid loop parameters</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00034">pid.c:34</a></div></div>
<div class="ttc" id="apid_8h_html_aaa8f5bad87ffc78a20f06863ab6bad5c"><div class="ttname"><a href="pid_8h.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a></div><div class="ttdeci">volatile PID_Structure_t angle_pid_handler</div><div class="ttdoc">algorithm handler of PID angle loop</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00028">pid.c:28</a></div></div>
<div class="ttc" id="apid_8h_html_ab051c8f4a730b934b146f330514efd95"><div class="ttname"><a href="pid_8h.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a></div><div class="ttdeci">volatile PID_Structure_t speed_pid_handler</div><div class="ttdoc">algorithm handler of PID speed loop</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00024">pid.c:24</a></div></div>
<div class="ttc" id="apid_8h_html_abe6a9dce63d0eaad5a10d4c8c5ffcd07"><div class="ttname"><a href="pid_8h.html#abe6a9dce63d0eaad5a10d4c8c5ffcd07">pid_calculate_result</a></div><div class="ttdeci">float pid_calculate_result(PID_Structure_t *pid_handler, float collect)</div><div class="ttdoc">calculate result using sampling value</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00057">pid.c:57</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html"><div class="ttname"><a href="struct_p_i_d___structure__t.html">PID_Structure_t</a></div><div class="ttdoc">structure of PID algorithm</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00024">pid.h:24</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a050993b7ca6c97e62c1020017f716b91"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">PID_Structure_t::ki</a></div><div class="ttdeci">float ki</div><div class="ttdoc">integral term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00026">pid.h:26</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a1f7add0f84d583bc2eceb290d6c4cc06"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">PID_Structure_t::kp</a></div><div class="ttdeci">float kp</div><div class="ttdoc">proportional term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00025">pid.h:25</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a1fac701369b1197497f7c698ad74386d"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a1fac701369b1197497f7c698ad74386d">PID_Structure_t::minimum</a></div><div class="ttdeci">float minimum</div><div class="ttdoc">minimum output in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00031">pid.h:31</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a466d4dab1bd38a43438c2e5e6ad5534e"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a466d4dab1bd38a43438c2e5e6ad5534e">PID_Structure_t::maximum</a></div><div class="ttdeci">float maximum</div><div class="ttdoc">maximum output in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00030">pid.h:30</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a51379d672c255e751fb020ef2394a8f0"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">PID_Structure_t::sum_maximum</a></div><div class="ttdeci">float sum_maximum</div><div class="ttdoc">maximum of anti saturation integral in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00032">pid.h:32</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a53bf2ded26ca455e1227890c20123cd9"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a53bf2ded26ca455e1227890c20123cd9">PID_Structure_t::last_error</a></div><div class="ttdeci">float last_error</div><div class="ttdoc">error value of previous calculation in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00033">pid.h:33</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a5f567aec72ce48f24c2dbc06dcfa3a09"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a5f567aec72ce48f24c2dbc06dcfa3a09">PID_Structure_t::summary</a></div><div class="ttdeci">float summary</div><div class="ttdoc">value of integral term in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00028">pid.h:28</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_ad0e13a810b1a4602c1ce625f9877cbf5"><div class="ttname"><a href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">PID_Structure_t::expect</a></div><div class="ttdeci">float expect</div><div class="ttdoc">user expectations in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00029">pid.h:29</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_ae7a5c6018507bb1361fcca170e069b9c"><div class="ttname"><a href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">PID_Structure_t::kd</a></div><div class="ttdeci">float kd</div><div class="ttdoc">differential term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00027">pid.h:27</a></div></div>
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