PID speed and PID position closed loop driver mode

If one of these bits are specified in the requested motor mode, PID loop is activated. We call these as "extended" modes.

Bit	Dec	Name	Reference value
4	16	Speed loop	rref
5	32	Position loop	pref

examples

Driver mode = 17:
The speed PID loop is active.
The motor is driven in voltage mode (17 - 16 = 1)

Driver mode = 34:
The position PID loop is active.
The motor is driven in current mode (34 - 32 = 2)

Parameters

For /driver/pid_speed and /driver/pid_pos : both folders contain the settings for the corresponding PID regulator.

P

Proportional term for the PID regulator

I

Integral term for the PID regulator

D

Derivative term for the PID regulator

Td

Time constant for the input filter for the D term