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cvra / pid

A PID controller implementation
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PID Controller

Build Status

This modules implements a PID controller in parallel form for use in various control loops. It has the following features :

Usage

pid_ctrl_t pid;
pid_init(&pid);

/* PD controller. */
pid_set_gains(&pid, 10., 0, 4.);

while (1) {
    error = motor_position - setpoint;
    motor_pwm = pid_process(&pid, error);
}

Frequency compensation

The user of this module can specify a frequency for the PID loop and the gains will then be adjusted to allow the same gains to be used for various frequencies.

This is done using the function pid_set_frequency. By default there is no compensation for the frequency of the PID.

Dependencies

None