pid_controller_t Struct Reference

PID controller instance data. More...

#include <pid-controller.h>

Data Fields
float	ProportionalCoeff
	Coefficient for proportional part of controller. Equal to K from standard formula.
float	IntegralCoeff
	Coefficient for integral part of controller. Equal to K/Ti from standard formula.
float	DifferentialCoeff
	Coefficient for differential part of controller. Equal to K*Td from standard formula.
float	IntegralValue
	Variable holding current integral value.
float	PreviousErrorDiff
	ErrorDiff on the previous iteration for differential part calculation.
float	MinIntegral
	Minimal allowed integrated part value.
float	MaxIntegral
	Maximal allowed integrated part value.

Detailed Description

PID controller instance data.

Definition at line 54 of file pid-controller.h.