pid.c File Reference

This files initializes and updates the PID controller. More...

#include "board.h"

Functions
void	initPID (void)
	Initializes the PID states. More...
float	updatePID (float error, float deltaT, uint8_t reset, struct PIDdata *PIDparameters)
	Updates the PID states. More...
void	initPIDvalues (void)
	Allows the user to change the PID values. More...
void	setPIDstates (uint8_t IDPid, float value)
	Set the state of the PIDs. More...
void	zeroPIDstates (void)
	Set all states to 0. More...

Variables
uint8_t	pidReset = true

Detailed Description

This files initializes and updates the PID controller.

Author

Jeremy Wolfe

Date

07 MAR 2022

Function Documentation

initPID()

void initPID

(

void

)

Initializes the PID states.

Returns

Void.

initPIDvalues()

void initPIDvalues

(

void

)

Allows the user to change the PID values.

Returns

Void.

setPIDstates()

void setPIDstates	(	uint8_t	IDPid,
		float	value
	)

Set the state of the PIDs.

Parameters

IDPid	Which PID state you want to change.
value	The value to write.

Returns

Void.

updatePID()

float updatePID	(	float	error,
		float	deltaT,
		uint8_t	reset,
		struct PIDdata *	PIDparameters
	)

Updates the PID states.

Parameters

error	Commanded changed minus measured change.
deltaT	Time between updates in sec.
reset	If the PID states should be reset.
*PIDparameters	Struct containing the parameters of the PID controller.

Returns

float Output from the algorithm.

zeroPIDstates()

void zeroPIDstates

(

void

)

Set all states to 0.

Returns

Void.

Variable Documentation

pidReset

uint8_t pidReset = true