witness_coefficients Struct Reference

#include <witness_controller.h>

Public Attributes
int32_t	kp
int32_t	ki_period
int32_t	derivative_decay
int32_t	derivative_gain
int32_t	position_gain
int32_t	velocity_gain
int32_t	reference_gain
int32_t	output_min
int32_t	output_max
int32_t	integral_min
int32_t	integral_max

Detailed Description

Signed raw Q8.24 constants, held stable between controller reset boundaries.

Definition at line 20 of file witness_controller.h.

Member Data Documentation

derivative_decay

int32_t witness_coefficients::derivative_decay

Filtered derivative decay in the inclusive raw interval zero through 2^24.

Definition at line 21 of file witness_controller.h.

derivative_gain

int32_t witness_coefficients::derivative_gain

Nonnegative derivative-on-measurement gain in raw Q8.24.

Definition at line 21 of file witness_controller.h.

integral_max

int32_t witness_coefficients::integral_max

Maximum PID integral state in raw Q8.24.

Definition at line 23 of file witness_controller.h.

integral_min

int32_t witness_coefficients::integral_min

Minimum PID integral state in raw Q8.24.

Definition at line 23 of file witness_controller.h.

ki_period

int32_t witness_coefficients::ki_period

Nonnegative integral gain multiplied by the sample period, in raw Q8.24.

Definition at line 21 of file witness_controller.h.

kp

int32_t witness_coefficients::kp

Nonnegative proportional error gain in signed raw Q8.24.

Definition at line 21 of file witness_controller.h.

output_max

int32_t witness_coefficients::output_max

Maximum permitted actuator command in raw Q8.24.

Definition at line 23 of file witness_controller.h.

output_min

int32_t witness_coefficients::output_min

Minimum permitted actuator command in raw Q8.24.

Definition at line 23 of file witness_controller.h.

position_gain

int32_t witness_coefficients::position_gain

Discrete LQR position feedback gain in raw Q8.24.

Definition at line 22 of file witness_controller.h.

reference_gain

int32_t witness_coefficients::reference_gain

Discrete LQR reference prefilter gain in raw Q8.24.

Definition at line 22 of file witness_controller.h.

velocity_gain

int32_t witness_coefficients::velocity_gain

Discrete LQR velocity feedback gain in raw Q8.24.

Definition at line 22 of file witness_controller.h.

---

The documentation for this struct was generated from the following file:

• controllers/c/witness_controller.h