McPidSettings Class

Represents the PID settings of KINGSTAR Subsystem.

Inheritance Hierarchy

Assembly: IntervalZero.KINGSTAR.Base (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

public class McPidSettings : INotifyPropertyChanged

Public Class McPidSettings Implements INotifyPropertyChanged

The McPidSettings class exposes the following members.

Constructors

	Name	Description
	McPidSettings	Initializes a new instance of the McPidSettings class.

Events

	Name	Description
	PropertyChanged	Notifies the application whether one of the properties is changed.

Methods

	Name	Description
	DefaultTorquePid	Creates an McPidSettings class with the default torque PID values based on the provided unit per revolution value.
	DefaultVelocityPid	Creates an McPidSettings class with the default velocity PID values based on the provided unit per revolution value.

Properties

	Name	Description
	KAA	Acceleration feedforward gain.
	KAD	Deceleration feedforward gain.
	KD	Derivative gain.
	KDUseSecondEncoder	Uses the internal position encoder for KD. By default, it is false.
	KI	Integral gain.
	KILimitPercent	The maximum integral error in percent of the maximum output.
	KIStoppedOnly	Uses KI gain only after the move is done, in case you want to avoid KI during the move to avoid overshooting but have it after to remove the steady-state error. By default, it is true.
	KJ	Jerk feedforward gain.
	KP	Proportional gain.
	KV	Velocity feedforward gain.
	MaximumOutput	The maximum output of the PID. The maximum torque in % or maximum velocity.
	MinimumOutput	The minimum output of the PID. The minimum torque in % or minimum velocity.
	ReducedGainsDelay	Determines when the axis starts using RgFactor after finishing the move. Unit: Second.
	RgFactor	KP, KI, and KD multiplied by this factor after ReducedGainsDelay.