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