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Add Generic PID Module #73

Merged
merged 2 commits into from
Feb 19, 2024
Merged

Add Generic PID Module #73

merged 2 commits into from
Feb 19, 2024

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Ayaan-Govil
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@Ayaan-Govil Ayaan-Govil commented Feb 5, 2024 •
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Changes

  • Added pid.c + pid.h

To Do

  • Add bounds for output
  • Still room for memory optimization
  • Integral sum can be calculated with sliding window instead of continuous

@Ayaan-Govil Ayaan-Govil self-assigned this Feb 5, 2024
nwdepatie
nwdepatie requested changes Feb 6, 2024
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@nwdepatie nwdepatie left a comment

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I think that we should add in hardcoded bounds on the PID such that we guarantee our implementation will at least be bounded. Check here for a nice implementation of PID, but I think that this might be a bit overkill for what we want https://dev.ti.com/tirex/explore/node?node=A__ACvcqA4mwpL9LptGWEedgA__motor_control_c2000ware_sdk_software_package__0.jXikd__LATEST

@nwdepatie nwdepatie merged commit 4004b01 into main Feb 19, 2024
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@nwdepatie nwdepatie deleted the pid branch February 19, 2024 02:22
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@nwdepatie nwdepatie nwdepatie approved these changes

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@Ayaan-Govil @nwdepatie