DRV8312-C2-KIT: Difference between Initialization and Reset

You might have a look at the code or the guide of "pid_grando" in controlSUITE as the following folder, resetting the "w1" term to avoid the overshot if there is a wrong feedback value when starting the pid controller. It's only used in the first calculation of the integral term. There is no difference if the reference is close to feedback.

C:\ti\controlSUITE\libs\app_libs\motor_control\math_blocks\v311\~Docs

Hello,

I am aware of that, but it is the same at the very first time of pid-controller usage after initilization.
So why is "w1" initialized at 1? Shouldn't it be 0?

Sarah

typedef struct { _iq up; // Data: proportional term

_iq ui; // Data: integral term

_iq ud; // Data: derivative term

_iq v1; // Data: pre-saturated controller output

_iq i1; // Data: integrator storage: ui(k-1)

_iq d1; // Data: differentiator storage: ud(k-1)

_iq d2; // Data: differentiator storage: d2(k-1)

_iq w1; // Data: saturation record: [u(k-1) - v(k-1)]

} PID_GRANDO_DATA;

PID_GRANDO_CONTROLLER pid1_idc = {PID_TERM_DEFAULTS,PID_PARAM_DEFAULTS,PID_DATA_DEFAULTS};

#define PID_DATA_DEFAULTS { \

_IQ(0.0), \

_IQ(0.0), \

_IQ(0.0), \

_IQ(0.0), \

_IQ(0.0), \

_IQ(0.0), \

_IQ(0.0), \

_IQ(1.0) \

}