pbio/control: change PID constants to int32_t
Allow bigger numbers and make it consistent with other parameters.
@@ -33,9 +33,9 @@ typedef struct _pbio_control_settings_t {
int32_t rate_tolerance; /**< Allowed deviation (counts/s) from target speed. Hence, if speed target is zero, any speed below this tolerance is considered to be standstill. */
int32_t count_tolerance; /**< Allowed deviation (counts) from target before motion is considered complete */
int32_t abs_acceleration; /**< Encoder acceleration/deceleration rate when beginning to move or stopping. Positive value in counts per second per second */
- int16_t pid_kp; /**< Proportional position control constant (and integral speed control constant) */
- int16_t pid_ki; /**< Integral position control constant */
- int16_t pid_kd; /**< Derivative position control constant (and proportional speed control constant) */
+ int32_t pid_kp; /**< Proportional position control constant (and integral speed control constant) */
+ int32_t pid_ki; /**< Integral position control constant */
+ int32_t pid_kd; /**< Derivative position control constant (and proportional speed control constant) */
int32_t max_control; /**< Upper limit on control output */
int32_t control_offset; /**< Constant feedforward signal added in the reference direction */
int32_t actuation_scale; /**< Number of "duty steps" per "%" user-specified raw actuation value */
