control_types.hpp

#ifndef __CONTROL_TYPES_HPP
#define __CONTROL_TYPES_HPP
 
#include "uarm_types.hpp"
 
/* =========================================================================
 * FEED FORWARD TYPES
 * ====================================================================== */
typedef struct {
    float ff_gain;    
    float last_input; 
    float output;     
} FeedForward_t;
 
/* =========================================================================
 * PID TYPES
 * ====================================================================== */

typedef struct {
    float kp;         
    float ki;         
    float kd;         
    float cur_val;    
    float target_val; 
 
    float err;       
    float last_err;  
    float llast_err; 
 
    float pout;      
    float iout;      
    float dout;      
    float max_out;   
    float max_err;   
    float max_i_out; 
    float total_out; 
} PID_t;

typedef struct {
    float k_p;  
    float k_i;  
    float k_d;  
    float beta; 
    float yeta; 
 
    float plant_value; 
    float setpoint;    
 
    float p_error;      
    float i_error;      
    float d_error;      
    float prev_d_error; 
 
    float p_out; 
    float i_out; 
    float d_out; 
 
    float max_out; 
    float min_out; 
 
    float prev_total_out; 
    float total_out;      
} PID2_t;

typedef struct {
    float k_p;   
    float k_i;   
    float k_d;   
    float beta;  
    float gamma; 
 
    float plant_value; 
    float setpoint;    
 
    float p_error;      
    float i_error;      
    float d_error;      
    float prev_d_error; 
 
    float p_out; 
    float i_out; 
    float d_out; 
 
    float max_out; 
    float min_out; 
 
    float prev_total_out; 
    float total_out;      
} PID3_t;

typedef struct {
    PID2_t pid;               
    float cumsum_dt;          
    uint32_t prescalar;       
    uint32_t prescalar_count; 
} Prescaled_PID2_t;
 
/* =========================================================================
 * RAMP TYPES
 * ====================================================================== */
typedef struct {
    float target;     
    float start;      
    float max_change; 
    float output;     
    float cumsum_dt;  
} Ramp;
 
#endif