3 * Speed and position regulators.
4 * \author Martin Prudek
11 #include "pmsm_state.h" /*pmsm state*/
12 #include "rp_spi.h" /*spi struct*/
16 /* RL-tool results from first order system approx */
17 /* P=0.16 I=13,4/freq=0.013 */
18 /* Hodnoty upraveny podle skutecnych vysledku */
21 #define PID_P_S 0.16 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
22 #define PID_I_S 0.0134
26 * Very simple position P regulator.
27 * Now only with P-part so that the error doesnt go to zero.
29 void pos_pid(struct rpi_state* state);
33 * Very simple PI speed regulator.
35 void spd_pid(struct rpi_state* state);
38 #endif /*CONTROLLERS*/