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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_q31 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 Q31 PID Control.
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<table class="memberdecls">
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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:ab58496a4137da4c667915a5fc0ef57ef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#ab58496a4137da4c667915a5fc0ef57ef">A0</a></td></tr>
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<tr class="separator:ab58496a4137da4c667915a5fc0ef57ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeb897c84724b56948e4222aca8d0e1f4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#aeb897c84724b56948e4222aca8d0e1f4">A1</a></td></tr>
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<tr class="separator:aeb897c84724b56948e4222aca8d0e1f4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4ae945f839719fb2c04c978724b78ebb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a4ae945f839719fb2c04c978724b78ebb">A2</a></td></tr>
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<tr class="memitem:af0a2da4da9a94af652873ec7e7be4880"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#af0a2da4da9a94af652873ec7e7be4880">state</a> [3]</td></tr>
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<tr class="separator:a6ec4b37fe2246a7e017dd07578fe5bbd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a84a6c05c16369c905193da0d5fc9a7b0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a84a6c05c16369c905193da0d5fc9a7b0">Ki</a></td></tr>
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<tr class="separator:a84a6c05c16369c905193da0d5fc9a7b0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a213bbf14da7ea536998f611977173552"><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a213bbf14da7ea536998f611977173552">Kd</a></td></tr>
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<tr class="separator:a213bbf14da7ea536998f611977173552"><td class="memSeparator" colspan="2"> </td></tr>
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<h2 class="groupheader">Field Documentation</h2>
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<a id="ab58496a4137da4c667915a5fc0ef57ef" name="ab58496a4137da4c667915a5fc0ef57ef"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab58496a4137da4c667915a5fc0ef57ef">◆ </a></span>A0</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_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="aeb897c84724b56948e4222aca8d0e1f4" name="aeb897c84724b56948e4222aca8d0e1f4"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aeb897c84724b56948e4222aca8d0e1f4">◆ </a></span>A1</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> A1</td>
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<p >The derived gain, A1 = -Kp - 2Kd. </p>
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<a id="a4ae945f839719fb2c04c978724b78ebb" name="a4ae945f839719fb2c04c978724b78ebb"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ae945f839719fb2c04c978724b78ebb">◆ </a></span>A2</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> A2</td>
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<p >The derived gain, A2 = Kd . </p>
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</div>
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<a id="a213bbf14da7ea536998f611977173552" name="a213bbf14da7ea536998f611977173552"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a213bbf14da7ea536998f611977173552">◆ </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#adc89a3547f5324b7b3b95adec3806bc0">q31_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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</div>
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<a id="a84a6c05c16369c905193da0d5fc9a7b0" name="a84a6c05c16369c905193da0d5fc9a7b0"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a84a6c05c16369c905193da0d5fc9a7b0">◆ </a></span>Ki</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> Ki</td>
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<p >The integral gain. </p>
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<a id="a6ec4b37fe2246a7e017dd07578fe5bbd" name="a6ec4b37fe2246a7e017dd07578fe5bbd"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a6ec4b37fe2246a7e017dd07578fe5bbd">◆ </a></span>Kp</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_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="af0a2da4da9a94af652873ec7e7be4880" name="af0a2da4da9a94af652873ec7e7be4880"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af0a2da4da9a94af652873ec7e7be4880">◆ </a></span>state</h2>
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<td class="memname"><a class="el" href="arm__math__types_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> state[3]</td>
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<p >The state array of length 3. </p>
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