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CMSIS-DSP Controller Functions

This module provides optimized control functions like PID and coordinate transforms.

Imports

Types

PidController = object instance*: PidInstanceF32: A PID controller. Source Edit
PidInstanceF32 {.importcpp: "arm_pid_instance_f32", header: "arm_math.h".} = object A0*: float32_t A1*: float32_t A2*: float32_t state*: array[3, float32_t] Kp*: float32_t Ki*: float32_t Kd*: float32_t: Source Edit

proc arm_pid_f32(S: ptr PidInstanceF32; in_val: float32_t): float32_t {.importc, header: "arm_math.h", ...raises: [], tags: [], forbids: [].}: Source Edit
proc arm_pid_init_f32(S: ptr PidInstanceF32; resetStateFlag: int32) {.importc, header: "arm_math.h", ...raises: [], tags: [], forbids: [].}: Source Edit
proc arm_sin_cos_f32(theta: float32_t; pSinVal: ptr float32_t; pCosVal: ptr float32_t) {.importc, header: "arm_math.h", ...raises: [], tags: [], forbids: [].}: Source Edit
proc init(pid: var PidController; kp, ki, kd: float32) {....raises: [], tags: [], forbids: [].}: Initialize PID controller with gains. Source Edit
proc process(pid: var PidController; error: float32): float32 {.inline, ...raises: [], tags: [], forbids: [].}: Process one step of the PID controller. Source Edit
proc sinCos(theta: float32): tuple[sinVal, cosVal: float32] {.inline, ...raises: [], tags: [], forbids: [].}: Simultaneously calculate sine and cosine. Source Edit