RoboticHand/pid_8h_source.html

#ifndef PID_H

#define PID_H


#include "Constants.h"


typedef struct {

  float kp;

  float ki;

  float kd;

  float integral;

  float prev_error;

  float out_min;

  float out_max;

} PID_t;


void PositionControlFinger(uint32_t enc, uint32_t target,

                           PID_t *pid, int pwm_channel, int phase_pin,

                           float dt);


void SetPhase(float u, uint32_t motor_phase_pin);

bool HomeFinger(uint32_t enc, uint32_t home_target,

                int pwm_channel, int phase_pin);


void PID_Reset(PID_t *pid);

void InitPIDs();


extern PID_t pid_thumb;

extern PID_t pid_index;

extern PID_t pid_middle;

extern PID_t pid_ring;

extern PID_t pid_pinkie;

extern PID_t pid_palm;


#endif

Constants.h
Hardware configuration, calibration values, and shared data types.

PID_Reset
void PID_Reset(PID_t *pid)
Reset a PID controller's internal state.
Definition pid.cpp:62

SetPhase
void SetPhase(float u, uint32_t motor_phase_pin)
Set motor direction based on signed control effort.
Definition pid.cpp:103

HomeFinger
bool HomeFinger(uint32_t enc, uint32_t home_target, int pwm_channel, int phase_pin)
Home a single finger motor to a reference position.
Definition pid.cpp:160

InitPIDs
void InitPIDs()
Initialize all PID controllers used by the robotic hand.
Definition pid.cpp:44

PositionControlFinger
void PositionControlFinger(uint32_t enc, uint32_t target, PID_t *pid, int pwm_channel, int phase_pin, float dt)
Perform PID-based position control for a single finger motor.
Definition pid.cpp:122

PID_t
PID controller state structure.
Definition pid.h:23