83 lines
2.7 KiB
C
83 lines
2.7 KiB
C
/**
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* @file pi.h
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* @note Copyright (C) 2011 Richard Cochran <richardcochran@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#ifndef HAVE_PI_H
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#define HAVE_PI_H
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#include "servo.h"
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/**
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* When set to a non-zero value, this variable determines the
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* proportional constant for the PI controller.
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*/
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extern double configured_pi_kp;
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/**
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* When set to a non-zero value, this variable determines the
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* integral constant for the PI controller.
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*/
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extern double configured_pi_ki;
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/**
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* When set to a non-zero value, this variable determines the scale in the
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* formula used to set the proportional constant of the PI controller from the
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* sync interval.
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* kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
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*/
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extern double configured_pi_kp_scale;
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/**
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* This variable determines the exponent in the formula used to set the
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* proportional constant of the PI controller from the sync interval.
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* kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
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*/
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extern double configured_pi_kp_exponent;
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/**
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* This variable determines the normalized maximum in the formula used to set
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* the proportional constant of the PI controller from the sync interval.
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* kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
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*/
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extern double configured_pi_kp_norm_max;
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/**
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* When set to a non-zero value, this variable determines the scale in the
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* formula used to set the integral constant of the PI controller from the
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* sync interval.
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* ki = min(ki_scale * sync^ki_exponent, ki_norm_max / sync)
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*/
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extern double configured_pi_ki_scale;
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/**
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* This variable determines the exponent in the formula used to set the
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* integral constant of the PI controller from the sync interval.
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* ki = min(ki_scale * sync^ki_exponent, ki_norm_max / sync)
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*/
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extern double configured_pi_ki_exponent;
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/**
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* This variable determines the normalized maximum in the formula used to set
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* the integral constant of the PI controller from the sync interval.
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* ki = min(ki_scale * sync^ki_exponent, ki_norm_max / sync)
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*/
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extern double configured_pi_ki_norm_max;
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struct servo *pi_servo_create(int fadj, int sw_ts);
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#endif
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