(********************************************************************
 * COPYRIGHT --
 ********************************************************************
 * Program: PID
 * File: PID.ab
 * Author: User
 * Created: March 17, 2017
 ********************************************************************
 * Implementation of program PID
 ********************************************************************)

PROGRAM _INIT

//z gui
    gPID[0].Request = 3

    gPIDPar[0].Kp = 1

    gPIDPar[0].Tn = 10000
    gPIDPar[0].Tv = 0
    gPIDPar[0].Y_max = 100
    gPIDPar[0].Y_min = -100
    gPIDPar[0].Kfbk = 1


END_PROGRAM


PROGRAM _CYCLIC
    //filtruj
    LCRSlimPID_0[0].enable = gPID[0].Enable //gui
    LCRSlimPID_0[0].W = Skaluj[1].y //gui
    LCRSlimPID_0[0].X = Skaluj[0].y //main
    LCRSlimPID_0[0].request = gPID[0].Request
    LCRSlimPID_0[0].pPar = ADR(gPIDPar[0]) //gui
    LCRSlimPID_0[0] FUB LCRSlimPID()

    gPID[0].CV = Skaluj[2].y

    //gPID[0].CV = Skaluj[2]

    Skaluj[0].x = gPID[0].PV //skalowanie sygnalu temp
    Skaluj[0].x1 = -1000
    Skaluj[0].y1 = -100
    Skaluj[0].x2 = 1000
    Skaluj[0].y2 = 100
    Skaluj[0] FUB LCRScal()

    Skaluj[1].x = gPID[0].SP //skalowanie sygnalu temp
    Skaluj[1].x1 = -1000
    Skaluj[1].y1 = -100
    Skaluj[1].x2 = 1000
    Skaluj[1].y2 = 100
    Skaluj[1] FUB LCRScal()

    Skaluj[2].x = LCRSlimPID_0[0].Y
    Skaluj[2].x1 = -100
    Skaluj[2].y1 = -32768
    Skaluj[2].x2 = 100
    Skaluj[2].y2 = 32767
    Skaluj[2] FUB LCRScal()

END_PROGRAM

PROGRAM _EXIT


(* TODO : Add your code here *)


END_PROGRAM