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

• Discrete PID in parallel form.
• Maximum integrator value (ARW).

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);
}

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.

None