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libservo360
servo360_getControlSys.c
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/*
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@servo360_getControlSys.c
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@author Parallax Inc
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@copyright
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Copyright (C) Parallax Inc. 2017. All Rights MIT Licensed. See end of file.
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@brief
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*/
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#include "
simpletools.h
"
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#include "
servo360.h
"
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int
servo360_getControlSys
(
int
pin,
int
constant)
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{
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if
(!_fb360c.servoCog) servo360_run();
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int
p = servo360_findServoIndex(pin);
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if
(p == -1)
return
-1;
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int
value;
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switch
(constant)
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{
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case
S360_SETTING_KPV:
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value = _fs[p].KpV;
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break
;
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case
S360_SETTING_KIV:
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value = _fs[p].KiV;
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break
;
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case
S360_SETTING_KDV:
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value = _fs[p].KdV;
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break
;
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case
S360_SETTING_IV_MAX:
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value = _fs[p].iMaxV;
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break
;
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case
S360_SETTING_KPA:
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value = _fs[p].Kp;
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break
;
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case
S360_SETTING_KIA:
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value = _fs[p].Ki;
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break
;
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case
S360_SETTING_KDA:
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value = _fs[p].Kd;
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break
;
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case
S360_SETTING_IA_MAX:
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value = _fs[p].iMax;
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break
;
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}
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return
value;
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}
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simpletools.h
This library provides convenient functions for a variety of microcontroller I/O, timing,...
servo360.h
Parallax Feedback 360 High Speed Servo control and monitoring functions. Uses one additional cog to c...
servo360_getControlSys
int servo360_getControlSys(int pin, int constant)
Check control system constant. See the servo360_setControlSys function for more info.
Definition:
servo360_getControlSys.c:17
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