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278 lines
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278 lines
13 KiB
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<div class="headertitle"><div class="title">arm_pid_instance_q15 Struct Reference<div class="ingroups"><a class="el" href="group__groupController.html">Controller Functions</a> » <a class="el" href="group__PID.html">PID Motor Control</a></div></div></div>
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<p>Instance structure for the Q15 PID Control.
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Data Fields</h2></td></tr>
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<tr class="memitem:a1aa73268c65cea0c7bc66bb70ff35205"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q15.html#a1aa73268c65cea0c7bc66bb70ff35205">A0</a></td></tr>
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<tr class="separator:a1aa73268c65cea0c7bc66bb70ff35205"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af66ed2ba68c67c1cac2c37cc902bb386"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q15.html#af66ed2ba68c67c1cac2c37cc902bb386">A1</a></td></tr>
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<tr class="memitem:a06ee5d86e97bf48a15096806b79f299c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q15.html#a06ee5d86e97bf48a15096806b79f299c">A2</a></td></tr>
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<tr class="memitem:a4c4e19d77015f5f7a31a1daf0faf31b6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q15.html#a4c4e19d77015f5f7a31a1daf0faf31b6">state</a> [3]</td></tr>
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<tr class="memitem:a19d5059baf06dd52266260d096702d0a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q15.html#a19d5059baf06dd52266260d096702d0a">Ki</a></td></tr>
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</table>
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<h2 class="groupheader">Field Documentation</h2>
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<a id="a1aa73268c65cea0c7bc66bb70ff35205" name="a1aa73268c65cea0c7bc66bb70ff35205"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1aa73268c65cea0c7bc66bb70ff35205">◆ </a></span>A0</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> A0</td>
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</div><div class="memdoc">
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<p >The derived gain, A0 = Kp + Ki + Kd . </p>
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<a id="af66ed2ba68c67c1cac2c37cc902bb386" name="af66ed2ba68c67c1cac2c37cc902bb386"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af66ed2ba68c67c1cac2c37cc902bb386">◆ </a></span>A1</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> A1</td>
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</div><div class="memdoc">
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<p >The derived gain A1 = -Kp - 2Kd </p>
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<a id="a06ee5d86e97bf48a15096806b79f299c" name="a06ee5d86e97bf48a15096806b79f299c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a06ee5d86e97bf48a15096806b79f299c">◆ </a></span>A2</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> A2</td>
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</div><div class="memdoc">
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<p >The derived gain A1 = Kd. </p>
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</div>
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</div>
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<a id="abf38d18de1e16bc6d86846fedf8534fe" name="abf38d18de1e16bc6d86846fedf8534fe"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#abf38d18de1e16bc6d86846fedf8534fe">◆ </a></span>Kd</h2>
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<div class="memproto">
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> Kd</td>
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</div><div class="memdoc">
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<p >The derivative gain. </p>
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<a id="a19d5059baf06dd52266260d096702d0a" name="a19d5059baf06dd52266260d096702d0a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a19d5059baf06dd52266260d096702d0a">◆ </a></span>Ki</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> Ki</td>
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</div><div class="memdoc">
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<p >The integral gain. </p>
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<a id="afef61fb3b64c73f2cd0c91d9dcf95679" name="afef61fb3b64c73f2cd0c91d9dcf95679"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afef61fb3b64c73f2cd0c91d9dcf95679">◆ </a></span>Kp</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> Kp</td>
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</div><div class="memdoc">
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<p >The proportional gain. </p>
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<a id="a4c4e19d77015f5f7a31a1daf0faf31b6" name="a4c4e19d77015f5f7a31a1daf0faf31b6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4c4e19d77015f5f7a31a1daf0faf31b6">◆ </a></span>state</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> state[3]</td>
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</div><div class="memdoc">
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<p >The state array of length 3. </p>
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