Modules
	Module overview

Data Structures
struct	_PID_Obj_
	Defines the PID controller object. More...

Typedefs
typedef struct _PID_Obj_	PID_Obj
	Defines the PID controller object. More...

typedef struct _PID_Obj_ *	PID_Handle
	Defines the PID handle. More...

typedef struct _PID_Obj_	PID_Obj
	Defines the PID controller object. More...

typedef struct _PID_Obj_ *	PID_Handle
	Defines the PID handle. More...

Functions
static _iq	PID_getFbackValue (PID_Handle handle)
	Gets the feedback value in the PID controller. More...

static void	PID_getGains (PID_Handle handle, _iq pKp, _iq pKi, _iq *pKd)
	Gets the gains in the PID controller. More...

static _iq	PID_getKd (PID_Handle handle)
	Gets the derivative gain in the PID controller. More...

static _iq	PID_getKi (PID_Handle handle)
	Gets the integral gain in the PID controller. More...

static _iq	PID_getKp (PID_Handle handle)
	Gets the proportional gain in the PID controller. More...

static void	PID_getMinMax (PID_Handle handle, _iq pOutMin, _iq pOutMax)
	Gets the minimum and maximum output value allowed in the PID controller. More...

static _iq	PID_getOutMax (PID_Handle handle)
	Gets the maximum output value allowed in the PID controller. More...

static _iq	PID_getOutMin (PID_Handle handle)
	Gets the minimum output value allowed in the PID controller. More...

static _iq	PID_getRefValue (PID_Handle handle)
	Gets the reference value in the PID controller. More...

static _iq	PID_getUi (PID_Handle handle)
	Gets the integrator start value in the PID controller. More...

PID_Handle	PID_init (void *pMemory, const size_t numBytes)
	Initializes the PID controller. More...

static void	PID_run (PID_Handle handle, const _iq refValue, const _iq fbackValue, _iq *pOutValue)
	Runs the PID controller. More...

static void	PID_run_spd (PID_Handle handle, const _iq refValue, const _iq fbackValue, _iq *pOutValue)
	Runs the PID controller for speed. More...

static void	PID_setFbackValue (PID_Handle handle, const _iq fbackValue)
	Sets the feedback value in the PID controller. More...

static void	PID_setGains (PID_Handle handle, const _iq Kp, const _iq Ki, const _iq Kd)
	Sets the gains in the PID controller. More...

static void	PID_setKd (PID_Handle handle, const _iq Kd)
	Sets the derivative gain in the PID controller. More...

static void	PID_setKi (PID_Handle handle, const _iq Ki)
	Sets the integral gain in the PID controller. More...

static void	PID_setKp (PID_Handle handle, const _iq Kp)
	Sets the proportional gain in the PID controller. More...

static void	PID_setMinMax (PID_Handle handle, const _iq outMin, const _iq outMax)
	Sets the minimum and maximum output value allowed in the PID controller. More...

static void	PID_setOutMax (PID_Handle handle, const _iq outMax)
	Sets the maximum output value allowed in the PID controller. More...

static void	PID_setOutMin (PID_Handle handle, const _iq outMin)
	Sets the minimum output value allowed in the PID controller. More...

static void	PID_setRefValue (PID_Handle handle, const _iq refValue)
	Sets the reference value in the PID controller. More...

static void	PID_setUi (PID_Handle handle, const _iq Ui)
	Sets the integrator start value in the PID controller. More...

void	PID_getDerFilterParams (PID_Handle handle, float_t b0, float_t b1, float_t a1, float_t x1, float_t *y1)
	Gets the derivative filter parameters. More...

static float_t	PID_getFfwdValue (PID_Handle handle)
	Gets the feedforward value in the PID controller. More...

static void	PID_getGains (PID_Handle handle, float_t pKp, float_t pKi, float_t *pKd)
	Gets the gains in the PID controller. More...

static void	PID_getMinMax (PID_Handle handle, float_t pOutMin, float_t pOutMax)
	Gets the minimum and maximum output value allowed in the PID controller. More...

void	PID_setDerFilterParams (PID_Handle handle, const float_t b0, const float_t b1, const float_t a1, const float_t x1, const float_t y1)
	Sets the derivative filter parameters. More...

static void	PID_setFbackValue (PID_Handle handle, const float_t fbackValue)
	Sets the feedback value in the PID controller. More...

static void	PID_setFfwdValue (PID_Handle handle, const float_t ffwdValue)
	Sets the feedforward value in the PID controller. More...

static void	PID_setGains (PID_Handle handle, const float_t Kp, const float_t Ki, const float_t Kd)
	Sets the gains in the PID controller. More...

static void	PID_setKd (PID_Handle handle, const float_t Kd)
	Sets the derivative gain in the PID controller. More...

static void	PID_setKi (PID_Handle handle, const float_t Ki)
	Sets the integral gain in the PID controller. More...

static void	PID_setKp (PID_Handle handle, const float_t Kp)
	Sets the proportional gain in the PID controller. More...

static void	PID_setMinMax (PID_Handle handle, const float_t outMin, const float_t outMax)
	Sets the minimum and maximum output value allowed in the PID controller. More...

static void	PID_setOutMax (PID_Handle handle, const float_t outMax)
	Sets the maximum output value allowed in the PID controller. More...

static void	PID_setOutMin (PID_Handle handle, const float_t outMin)
	Sets the minimum output value allowed in the PID controller. More...

static void	PID_setRefValue (PID_Handle handle, const float_t refValue)
	Sets the reference value in the PID controller. More...

static void	PID_setUi (PID_Handle handle, const float_t Ui)
	Sets the integrator start value in the PID controller. More...

static void	PID_run_parallel (PID_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the parallel form of the PID controller. More...

static void	PID_run_series (PID_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the series form of the PID controller. More...

Detailed Description

Data Structure Documentation

struct _PID_Obj_

Defines the PID controller object.

Definition at line 74 of file 32b/pid.h.

Data Fields
FILTER_FO_Obj	derFilter	the derivative filter object
FILTER_FO_Handle	derFilterHandle	the derivative filter handle
_iq	fbackValue	the feedback input value
float_t	fbackValue	the feedback input value
float_t	ffwdValue	the feedforward input value
_iq	Kd	the derivative gain for the PID controller
float_t	Kd	the derivative gain for the PID controller
_iq	Ki	the integral gain for the PID controller
float_t	Ki	the integral gain for the PID controller
_iq	Kp	the proportional gain for the PID controller
float_t	Kp	the proportional gain for the PID controller
_iq	outMax	the maximum output value allowed for the PID controller
float_t	outMax	the maximum output value allowed for the PID controller
_iq	outMin	the minimum output value allowed for the PID controller
float_t	outMin	the minimum output value allowed for the PID controller
_iq	refValue	the reference input value
float_t	refValue	the reference input value
_iq	Ui	the integrator start value for the PID controller
float_t	Ui	the integrator start value for the PID controller

Typedef Documentation

typedef struct _PID_Obj_* PID_Handle

Defines the PID handle.

Definition at line 93 of file 32b/pid.h.

typedef struct _PID_Obj_* PID_Handle

Defines the PID handle.

Definition at line 97 of file float/pid.h.

typedef struct _PID_Obj_ PID_Obj

Defines the PID controller object.

typedef struct _PID_Obj_ PID_Obj

Defines the PID controller object.

Function Documentation

void PID_getDerFilterParams	(	PID_Handle	handle,
		float_t *	b0,
		float_t *	b1,
		float_t *	a1,
		float_t *	x1,
		float_t *	y1
	)

Gets the derivative filter parameters.

y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The PID controller handle
[in]	b0	The numerator filter coefficient value for z^0
[in]	b1	The numerator filter coefficient value for z^(-1)
[in]	a1	The denominator filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

Definition at line 56 of file float/pid.c.

References _PID_Obj_::derFilterHandle, FILTER_FO_get_a1(), FILTER_FO_get_b0(), FILTER_FO_get_b1(), FILTER_FO_get_x1(), and FILTER_FO_get_y1().

static _iq PID_getFbackValue ( PID_Handle handle )

inlinestatic

Gets the feedback value in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The feedback value in the PID controller

Definition at line 102 of file 32b/pid.h.

References _PID_Obj_::fbackValue.

Referenced by USER_computeTorque_lbin(), and USER_computeTorque_Nm().

static float_t PID_getFfwdValue ( PID_Handle handle )

inlinestatic

Gets the feedforward value in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The feedforward value in the PID controller

Definition at line 132 of file float/pid.h.

References _PID_Obj_::ffwdValue.

static void PID_getGains	(	PID_Handle	handle,
		_iq *	pKp,
		_iq *	pKi,
		_iq *	pKd
	)

inlinestatic

Gets the gains in the PID controller.

Parameters

[in]	handle	The PID controller handle
[out]	pKp	The pointer to the proportional gain value
[out]	pKi	The pointer to the integrator gain value
[out]	pKd	The pointer to the derivative gain value

Definition at line 115 of file 32b/pid.h.

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

static void PID_getGains	(	PID_Handle	handle,
		float_t *	pKp,
		float_t *	pKi,
		float_t *	pKd
	)

inlinestatic

Gets the gains in the PID controller.

Parameters

[in]	handle	The PID controller handle
[out]	pKp	The pointer to the proportional gain value
[out]	pKi	The pointer to the integrator gain value
[out]	pKd	The pointer to the derivative gain value

Definition at line 145 of file float/pid.h.

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

static _iq PID_getKd ( PID_Handle handle )

inlinestatic

Gets the derivative gain in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The derivative gain in the PID controller

Definition at line 130 of file 32b/pid.h.

References _PID_Obj_::Kd.

static _iq PID_getKi ( PID_Handle handle )

inlinestatic

Gets the integral gain in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The integral gain in the PID controller

Definition at line 141 of file 32b/pid.h.

References _PID_Obj_::Ki.

static _iq PID_getKp ( PID_Handle handle )

inlinestatic

Gets the proportional gain in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The proportional gain in the PID controller

Definition at line 152 of file 32b/pid.h.

References _PID_Obj_::Kp.

static void PID_getMinMax	(	PID_Handle	handle,
		_iq *	pOutMin,
		_iq *	pOutMax
	)

inlinestatic

Gets the minimum and maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[out]	pOutMin	The pointer to the minimum output value allowed
[out]	pOutMax	The pointer to the maximum output value allowed

Definition at line 164 of file 32b/pid.h.

References _PID_Obj_::outMax, and _PID_Obj_::outMin.

static void PID_getMinMax	(	PID_Handle	handle,
		float_t *	pOutMin,
		float_t *	pOutMax
	)

inlinestatic

Gets the minimum and maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[out]	pOutMin	The pointer to the minimum output value allowed
[out]	pOutMax	The pointer to the maximum output value allowed

Definition at line 194 of file float/pid.h.

References _PID_Obj_::outMax, and _PID_Obj_::outMin.

static _iq PID_getOutMax ( PID_Handle handle )

inlinestatic

Gets the maximum output value allowed in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The maximum output value allowed

Definition at line 178 of file 32b/pid.h.

References _PID_Obj_::outMax.

static _iq PID_getOutMin ( PID_Handle handle )

inlinestatic

Gets the minimum output value allowed in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The minimum output value allowed

Definition at line 189 of file 32b/pid.h.

References _PID_Obj_::outMin.

static _iq PID_getRefValue ( PID_Handle handle )

inlinestatic

Gets the reference value in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The reference value in the PID controller

Definition at line 200 of file 32b/pid.h.

References _PID_Obj_::refValue.

Referenced by CTRL_getRefValue_pu().

static _iq PID_getUi ( PID_Handle handle )

inlinestatic

Gets the integrator start value in the PID controller.

Parameters

[in] handle The PID controller handle

Returns: The integrator start value for the PID controller

Definition at line 211 of file 32b/pid.h.

References _PID_Obj_::Ui.

PID_Handle PID_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the PID controller.

Parameters

[in]	pMemory	A pointer to the memory for the PID controller object
[in]	numBytes	The number of bytes allocated for the PID controller object, bytes

Returns: The PID controller (PID) object handle

Definition at line 56 of file 32b/pid.c.

References _IQ, _PID_Obj_::derFilter, _PID_Obj_::derFilterHandle, FILTER_FO_init(), PID_setFbackValue(), PID_setRefValue(), and PID_setUi().

static void PID_run	(	PID_Handle	handle,
		const _iq	refValue,
		const _iq	fbackValue,
		_iq *	pOutValue
	)

inlinestatic

Runs the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 231 of file 32b/pid.h.

References _IQmpy, _IQsat, _PID_Obj_::fbackValue, _PID_Obj_::Ki, _PID_Obj_::Kp, _PID_Obj_::outMax, _PID_Obj_::outMin, _PID_Obj_::refValue, and _PID_Obj_::Ui.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static void PID_run_parallel	(	PID_Handle	handle,
		const float_t	refValue,
		const float_t	fbackValue,
		const float_t	ffwdValue,
		float_t *	pOutValue
	)

inlinestatic

Runs the parallel form of the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedforward value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 426 of file float/pid.h.

References _PID_Obj_::derFilterHandle, _PID_Obj_::fbackValue, FILTER_FO_run(), _PID_Obj_::Kd, _PID_Obj_::Ki, _PID_Obj_::Kp, MATH_sat(), _PID_Obj_::outMax, _PID_Obj_::outMin, PID_getKd(), PID_getKi(), PID_getKp(), PID_getOutMax(), PID_getOutMin(), PID_getUi(), PID_setFbackValue(), PID_setFfwdValue(), PID_setRefValue(), PID_setUi(), and _PID_Obj_::Ui.

static void PID_run_series	(	PID_Handle	handle,
		const float_t	refValue,
		const float_t	fbackValue,
		const float_t	ffwdValue,
		float_t *	pOutValue
	)

inlinestatic

Runs the series form of the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedforward value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 466 of file float/pid.h.

References _PID_Obj_::derFilterHandle, _PID_Obj_::fbackValue, FILTER_FO_run(), _PID_Obj_::Kd, _PID_Obj_::Ki, _PID_Obj_::Kp, MATH_sat(), _PID_Obj_::outMax, _PID_Obj_::outMin, PID_getKd(), PID_getKi(), PID_getKp(), PID_getOutMax(), PID_getOutMin(), PID_getUi(), PID_setFbackValue(), PID_setFfwdValue(), PID_setRefValue(), PID_setUi(), and _PID_Obj_::Ui.

static void PID_run_spd	(	PID_Handle	handle,
		const _iq	refValue,
		const _iq	fbackValue,
		_iq *	pOutValue
	)

inlinestatic

Runs the PID controller for speed.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 260 of file 32b/pid.h.

References _IQmpy, _IQsat, _PID_Obj_::fbackValue, _PID_Obj_::Ki, _PID_Obj_::Kp, _PID_Obj_::outMax, _PID_Obj_::outMin, _PID_Obj_::refValue, and _PID_Obj_::Ui.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

void PID_setDerFilterParams	(	PID_Handle	handle,
		const float_t	b0,
		const float_t	b1,
		const float_t	a1,
		const float_t	x1,
		const float_t	y1
	)

Sets the derivative filter parameters.

y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The PID controller handle
[in]	b0	The numerator filter coefficient value for z^0
[in]	b1	The numerator filter coefficient value for z^(-1)
[in]	a1	The denominator filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

Definition at line 94 of file float/pid.c.

References _PID_Obj_::derFilterHandle, FILTER_FO_setDenCoeffs(), FILTER_FO_setInitialConditions(), and FILTER_FO_setNumCoeffs().

static void PID_setFbackValue	(	PID_Handle	handle,
		const float_t	fbackValue
	)

inlinestatic

Sets the feedback value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	fbackValue	The feedback value

Definition at line 274 of file float/pid.h.

References _PID_Obj_::fbackValue.

Referenced by PID_run_parallel(), and PID_run_series().

static void PID_setFbackValue	(	PID_Handle	handle,
		const _iq	fbackValue
	)

inlinestatic

Sets the feedback value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	fbackValue	The feedback value

Definition at line 286 of file 32b/pid.h.

References _PID_Obj_::fbackValue.

Referenced by PID_init().

static void PID_setFfwdValue	(	PID_Handle	handle,
		const float_t	ffwdValue
	)

inlinestatic

Sets the feedforward value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	ffwdValue	The feedforward value

Definition at line 287 of file float/pid.h.

References _PID_Obj_::ffwdValue.

Referenced by PID_run_parallel(), and PID_run_series().

static void PID_setGains	(	PID_Handle	handle,
		const _iq	Kp,
		const _iq	Ki,
		const _iq	Kd
	)

inlinestatic

Sets the gains in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kp	The proportional gain for the PID controller
[in]	Ki	The integrator gain for the PID controller
[in]	Kd	The derivative gain for the PID controller

Definition at line 301 of file 32b/pid.h.

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

Referenced by CTRL_setParams().

static void PID_setGains	(	PID_Handle	handle,
		const float_t	Kp,
		const float_t	Ki,
		const float_t	Kd
	)

inlinestatic

Sets the gains in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kp	The proportional gain for the PID controller
[in]	Ki	The integrator gain for the PID controller
[in]	Kd	The derivative gain for the PID controller

Definition at line 302 of file float/pid.h.

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

static void PID_setKd	(	PID_Handle	handle,
		const _iq	Kd
	)

inlinestatic

Sets the derivative gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kd	The derivative gain for the PID controller

Definition at line 316 of file 32b/pid.h.

References _PID_Obj_::Kd.

static void PID_setKd	(	PID_Handle	handle,
		const float_t	Kd
	)

inlinestatic

Sets the derivative gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kd	The derivative gain for the PID controller

Definition at line 317 of file float/pid.h.

References _PID_Obj_::Kd.

static void PID_setKi	(	PID_Handle	handle,
		const _iq	Ki
	)

inlinestatic

Sets the integral gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Ki	The integral gain for the PID controller

Definition at line 329 of file 32b/pid.h.

References _PID_Obj_::Ki.

Referenced by USER_calcPIgains().

static void PID_setKi	(	PID_Handle	handle,
		const float_t	Ki
	)

inlinestatic

Sets the integral gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Ki	The integral gain for the PID controller

Definition at line 330 of file float/pid.h.

References _PID_Obj_::Ki.

static void PID_setKp	(	PID_Handle	handle,
		const _iq	Kp
	)

inlinestatic

Sets the proportional gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kp	The proportional gain for the PID controller

Definition at line 342 of file 32b/pid.h.

References _PID_Obj_::Kp.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static void PID_setKp	(	PID_Handle	handle,
		const float_t	Kp
	)

inlinestatic

Sets the proportional gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kp	The proportional gain for the PID controller

Definition at line 343 of file float/pid.h.

References _PID_Obj_::Kp.

static void PID_setMinMax	(	PID_Handle	handle,
		const _iq	outMin,
		const _iq	outMax
	)

inlinestatic

Sets the minimum and maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMin	The minimum output value allowed
[in]	outMax	The maximum output value allowed

Definition at line 356 of file 32b/pid.h.

References _PID_Obj_::outMax, and _PID_Obj_::outMin.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_runPiOnly(), and CTRL_setParams().

static void PID_setMinMax	(	PID_Handle	handle,
		const float_t	outMin,
		const float_t	outMax
	)

inlinestatic

Sets the minimum and maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMin	The minimum output value allowed
[in]	outMax	The maximum output value allowed

Definition at line 357 of file float/pid.h.

References _PID_Obj_::outMax, and _PID_Obj_::outMin.

static void PID_setOutMax	(	PID_Handle	handle,
		const _iq	outMax
	)

inlinestatic

Sets the maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMax	The maximum output value allowed

Definition at line 370 of file 32b/pid.h.

References _PID_Obj_::outMax.

static void PID_setOutMax	(	PID_Handle	handle,
		const float_t	outMax
	)

inlinestatic

Sets the maximum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMax	The maximum output value allowed

Definition at line 371 of file float/pid.h.

References _PID_Obj_::outMax.

static void PID_setOutMin	(	PID_Handle	handle,
		const _iq	outMin
	)

inlinestatic

Sets the minimum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMax	The minimum output value allowed

Definition at line 383 of file 32b/pid.h.

References _PID_Obj_::outMin.

static void PID_setOutMin	(	PID_Handle	handle,
		const float_t	outMin
	)

inlinestatic

Sets the minimum output value allowed in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	outMax	The minimum output value allowed

Definition at line 384 of file float/pid.h.

References _PID_Obj_::outMin.

static void PID_setRefValue	(	PID_Handle	handle,
		const _iq	refValue
	)

inlinestatic

Sets the reference value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value

Definition at line 396 of file 32b/pid.h.

References _PID_Obj_::refValue.

Referenced by PID_init().

static void PID_setRefValue	(	PID_Handle	handle,
		const float_t	refValue
	)

inlinestatic

Sets the reference value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	refValue	The reference value

Definition at line 397 of file float/pid.h.

References _PID_Obj_::refValue.

Referenced by PID_run_parallel(), and PID_run_series().

static void PID_setUi	(	PID_Handle	handle,
		const _iq	Ui
	)

inlinestatic

Sets the integrator start value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Ui	The integral start value for the PID controller

Definition at line 409 of file 32b/pid.h.

References _PID_Obj_::Ui.

Referenced by CTRL_runOnLine(), CTRL_runPiOnly(), CTRL_setImmediateUi(), CTRL_setParams(), and PID_init().

static void PID_setUi	(	PID_Handle	handle,
		const float_t	Ui
	)

inlinestatic

Sets the integrator start value in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Ui	The integral start value for the PID controller

Definition at line 410 of file float/pid.h.

References _PID_Obj_::Ui.

Referenced by PID_run_parallel(), and PID_run_series().

Modules

Data Structures

Typedefs

Functions

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Data Structure Documentation

Typedef Documentation

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