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pid.h

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00001 // This file has been prepared for Doxygen automatic documentation generation.
00021 #ifndef PID_H
00022 #define PID_H
00023 
00029 
00030 #define K_P     1
00031 
00032 #define K_I     0
00033 
00034 #define K_D     0
00035 
00036 #define SCALING_FACTOR  128
00037 
00044 
00045 #define TIME_INTERVAL   157
00046 
00047 
00052 struct PID_DATA{
00054   int LAST_PROCESS_VALUE;
00056   int SUM_ERROR;
00058   int P_FACTOR;
00060   int I_FACTOR;
00062   int D_FACTOR;
00064   int MAX_ERROR;
00066   int MAX_SUM_ERROR;
00067 };
00068 
00073 // Maximum value of error
00074 #define MAXERROR        32000
00075 // Maximum value of integers
00076 #define MAX_INT         32766
00077 
00078 // Boolean values
00079 #define FALSE           0
00080 #define TRUE            1
00081 
00082 void Init_PID(int p_factor, int i_factor, int d_factor, struct PID_DATA *pid);
00083 int PID(int setPoint, int processValue, struct PID_DATA *pid_st);
00084 
00085 #endif

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