command_id.h

Position PID algorithm control motor by dsPIC

#define START_BYTE 0xFF
#define KP_COEFF	7000
#define KI_COEFF	256
#define KD_COEFF	0
#define MAX_PWM_POSITION	512
#define MAX_LONG	2147483640	

#define ID_NULL	'N'
#define ID_KP	'P'
#define ID_KI	'I'
#define ID_KD	'D'
#define ID_VELOCITY_COMMAND	'V'
#define ID_ENCODER_COMMAND	'E'
#define ID_CLEAR_ENCODER	'C'
#define ID_ENCODER_OVER_FLOW 'o'
#define ID_MAX_PWM_POSITION	 'M'
#define ID_ADC				'A'