Buoyancy Firmware  1.0
Buoyancy Vehicle Firmware Documentation
pid_controller Struct Reference

Structure that holds PID all the PID controller data, multiple instances are posible using different structures for each controller. More...

#include <PID.h>

Data Fields

float * input
 Current Process Value. More...
 
float * output
 Corrective Output from PID Controller. More...
 
float * setpoint
 Controller Setpoint. More...
 
float Kp
 Stores the gain for the Proportional term. More...
 
float Ki
 Stores the gain for the Integral term. More...
 
float Kd
 Stores the gain for the Derivative term. More...
 
float omin
 Maximum value allowed at the output. More...
 
float omax
 Minimum value allowed at the output. More...
 
float iterm
 Accumulator for integral term. More...
 
float lastin
 Last input value for differential term. More...
 
uint32_t lasttime
 Stores the time when the control loop ran last time. More...
 
uint32_t sampletime
 Defines the PID sample time. More...
 
uint8_t automode
 Defines if the PID controller is enabled or disabled. More...
 
enum pid_control_directions direction
 

Detailed Description

Structure that holds PID all the PID controller data, multiple instances are posible using different structures for each controller.

Field Documentation

◆ automode

uint8_t automode

Defines if the PID controller is enabled or disabled.

◆ direction

enum pid_control_directions direction

◆ input

float* input

Current Process Value.

◆ iterm

float iterm

Accumulator for integral term.

◆ Kd

float Kd

Stores the gain for the Derivative term.

◆ Ki

float Ki

Stores the gain for the Integral term.

◆ Kp

float Kp

Stores the gain for the Proportional term.

◆ lastin

float lastin

Last input value for differential term.

◆ lasttime

uint32_t lasttime

Stores the time when the control loop ran last time.

◆ omax

float omax

Minimum value allowed at the output.

◆ omin

float omin

Maximum value allowed at the output.

◆ output

float* output

Corrective Output from PID Controller.

◆ sampletime

uint32_t sampletime

Defines the PID sample time.

◆ setpoint

float* setpoint

Controller Setpoint.


The documentation for this struct was generated from the following file: