lua/src/pid.h

   1 /***
   2  proportional integral derivative controller
   3  @classmod a.pid
   4 */
   5
   6 #ifndef LUA_LIBA_PID_H
   7 #define LUA_LIBA_PID_H
   8
   9 #include "a.h"
  10
  11 /***
  12  proportional integral derivative controller
  13  @field kp proportional constant
  14  @field ki integral constant
  15  @field kd derivative constant
  16  @field summax maximum integral output
  17  @field summin minimum integral output
  18  @field sum controller integral output
  19  @field outmax maximum final output
  20  @field outmin minimum final output
  21  @field out controller final output
  22  @field fdb cache feedback
  23  @field err cache error
  24  @table a.pid
  25 */
  26 #if defined(__cplusplus)
  27 extern "C" {
  28 #endif /* __cplusplus */
  29
  30 /***
  31  constructor for PID controller
  32  @treturn a.pid PID controller userdata
  33  @function new
  34 */
  35 int liba_pid_new(lua_State *L);
  36
  37 /***
  38  initialize for PID controller
  39  @treturn a.pid PID controller userdata
  40  @function init
  41 */
  42 int liba_pid_init(lua_State *L);
  43
  44 /***
  45  set proportional integral derivative constant for PID controller
  46  @tparam number kp proportional constant
  47  @tparam number ki integral constant
  48  @tparam number kd derivative constant
  49  @treturn a.pid PID controller userdata
  50  @function kpid
  51 */
  52 int liba_pid_kpid(lua_State *L);
  53
  54 /***
  55  calculate for PID controller
  56  @tparam number set setpoint value
  57  @tparam number fdb feedback value
  58  @treturn number setpoint value
  59  @function run
  60 */
  61 int liba_pid_run(lua_State *L);
  62
  63 /***
  64  calculate for positional PID controller
  65  @tparam number set setpoint value
  66  @tparam number fdb feedback value
  67  @treturn number output value
  68  @function pos
  69 */
  70 int liba_pid_pos(lua_State *L);
  71
  72 /***
  73  calculate for incremental PID controller
  74  @tparam number set setpoint value
  75  @tparam number fdb feedback value
  76  @treturn number output value
  77  @function inc
  78 */
  79 int liba_pid_inc(lua_State *L);
  80
  81 /***
  82  zeroing for PID controller
  83  @treturn a.pid PID controller userdata
  84  @function zero
  85 */
  86 int liba_pid_zero(lua_State *L);
  87
  88 #if defined(__cplusplus)
  89 } /* extern "C" */
  90 #endif /* __cplusplus */
  91
  92 #endif /* pid.h */