motor_pid_full_s_t struct
#include <pros/motors.h>
Holds the information about a Motor's position or velocity PID controls.
These values are in 4.4 format, meaning that a value of 0x20 represents 2.0, 0x21 represents 2.0625, 0x22 represents 2.125, etc.
Public variables
- uint8_t kf
- The feedforward constant.
- uint8_t kp
- The proportional constant.
- uint8_t ki
- The integral constants.
- uint8_t kd
- The derivative constant.
- uint8_t filter
- A constant used for filtering the profile acceleration
- uint16_t limit
- The integral limit.
- uint8_t threshold
- The threshold for determining if a position movement hasreached its goa l. This has no effect for velocity PID calculations.
- uint8_t loopspeed
- The rate at which the PID computation is run in ms.