MPIFilterGainPID
Definition
typedef struct MPIFilterGainPID { struct { double proportional; /* Kpp */ double integral; /* Kip */ double derivative; /* Kdp */ } gain; struct { double position; /* Kpff */ double velocity; /* Kvff */ double acceleration; /* Kaff */ double friction; /* Kfff */ } feedForward; double dRate; /*DRate */ struct{ double moving; /* MovingIMax */ double rest; /* RestIMax */ } integrationMax; int32_t dRate; /* DRate */ struct { double limitHigh; /* OutputTorqueLimitHigh */ double limitLow; /* OutputTorqueLimitLow */ double velocitylimithigh; /* OutputVelocityLimitHigh */ double velocitylimitLow; /* OutputVelocityLimitLow */ double offset; /* OutputOffset */ } output; struct { double positionFFT; /* TestSignal */ } noise; } MPIFilterGainPID;
Description
MPIFilterGainPID is a structure that defines the filter coefficients for the PID filter algorithm.
See Also
High/Low Output Limits section for special instructions regarding MPIFilterGainPID.