254 lines
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254 lines
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<div class="title">Pixy Control Helper<div class="ingroups"><a class="el" href="group__app.html">Application</a></div></div> </div>
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Collaboration diagram for Pixy Control Helper:</div>
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<div class="dyncontent">
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<center><table><tr><td><img src="group__pixy__control.png" border="0" alt="" usemap="#group____pixy____control"/>
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<map name="group____pixy____control" id="group____pixy____control">
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga4b2080c6002ea758f49d748ecf8db28b"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__pixy__control.html#ga4b2080c6002ea758f49d748ecf8db28b">pixy_PID_Y</a> (int16_t x, int16_t w)</td></tr>
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<tr class="separator:ga4b2080c6002ea758f49d748ecf8db28b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab3724cbb7b6c771af9ad87db9c0d3902"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__pixy__control.html#gab3724cbb7b6c771af9ad87db9c0d3902">pixy_PID_X</a> (int16_t x, int16_t w)</td></tr>
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<tr class="separator:gab3724cbb7b6c771af9ad87db9c0d3902"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>A collection of helper functions that contain PID Control code used for object tracking. </p>
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<h2 class="groupheader">Function Documentation</h2>
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<a class="anchor" id="gab3724cbb7b6c771af9ad87db9c0d3902"></a>
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<td class="memname">int16_t pixy_PID_X </td>
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<td>(</td>
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<td class="paramtype">int16_t </td>
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<td class="paramname"><em>x</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int16_t </td>
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<td class="paramname"><em>w</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Execute one step of PID regulation for the X-servo. </p><dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x</td><td>desired value (e.g. current x-position of the biggest block) </td></tr>
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<tr><td class="paramname">w</td><td>actual value (e.g desired x-position) </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>The offset which needs to be added to the X-Servo position </dd></dl>
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<p>Definition at line <a class="el" href="pixy__control_8c_source.html#l00067">67</a> of file <a class="el" href="pixy__control_8c_source.html">pixy_control.c</a>.</p>
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<div class="fragment"><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">float</span> e = 0;</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">static</span> <span class="keywordtype">float</span> esum = 0;</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">static</span> <span class="keywordtype">float</span> eold = 0;</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">float</span> <a class="code" href="struct_block.html#ab0580f504a7428539be299fa71565f30">y</a> = 0;</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  e = (float)(<a class="code" href="struct_block.html#a4dde988b1b2adba65ae3efa69f65d960">x</a> - w); <span class="comment">// calculate the controller offset</span></div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">//----PID-control-------------------------------------------------------------------------</span></div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  esum = esum + e; <span class="comment">// add e to the current sum</span></div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  y += <a class="code" href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a> * e; <span class="comment">// add the proportional part to the output</span></div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  y += <a class="code" href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a> * <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a> * esum; <span class="comment">// add the integral part to the output</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  y += <a class="code" href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a> * (e - eold) / <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a>; <span class="comment">// add the differential part to the output</span></div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">//----------------------------------------------------------------------------------------</span></div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  eold = e; <span class="comment">// save the previous value</span></div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">return</span> (int16_t)<a class="code" href="struct_block.html#ab0580f504a7428539be299fa71565f30">y</a>;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> }</div>
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<div class="ttc" id="pixy__control_8c_html_a518bf70ad380fa7605e895f59ba08249"><div class="ttname"><a href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a></div><div class="ttdeci">#define REG_PID_KI</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00038">pixy_control.c:38</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_aa229051d61aedca94d95afa01c6ab3fe"><div class="ttname"><a href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a></div><div class="ttdeci">#define REG_PID_KP</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00037">pixy_control.c:37</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_ac490324cc61d8be6f8cd13076c0b5644"><div class="ttname"><a href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a></div><div class="ttdeci">#define REG_PID_TA</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00040">pixy_control.c:40</a></div></div>
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<div class="ttc" id="struct_block_html_ab0580f504a7428539be299fa71565f30"><div class="ttname"><a href="struct_block.html#ab0580f504a7428539be299fa71565f30">Block::y</a></div><div class="ttdeci">uint16_t y</div><div class="ttdef"><b>Definition:</b> <a href="pixy_8h_source.html#l00081">pixy.h:81</a></div></div>
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<div class="ttc" id="struct_block_html_a4dde988b1b2adba65ae3efa69f65d960"><div class="ttname"><a href="struct_block.html#a4dde988b1b2adba65ae3efa69f65d960">Block::x</a></div><div class="ttdeci">uint16_t x</div><div class="ttdef"><b>Definition:</b> <a href="pixy_8h_source.html#l00080">pixy.h:80</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_a270b42ec5ef46a54c91fe1958d551231"><div class="ttname"><a href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a></div><div class="ttdeci">#define REG_PID_KD</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00039">pixy_control.c:39</a></div></div>
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Here is the caller graph for this function:</div>
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<div class="center"><img src="group__pixy__control_gab3724cbb7b6c771af9ad87db9c0d3902_icgraph.png" border="0" usemap="#group__pixy__control_gab3724cbb7b6c771af9ad87db9c0d3902_icgraph" alt=""/></div>
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<map name="group__pixy__control_gab3724cbb7b6c771af9ad87db9c0d3902_icgraph" id="group__pixy__control_gab3724cbb7b6c771af9ad87db9c0d3902_icgraph">
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<area shape="rect" id="node2" href="screen__tracking_8c.html#acb647e6a47a40716583b11336f58e023" title="tracking_our_update" alt="" coords="141,5,280,32"/></map>
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</div>
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</p>
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</div>
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</div>
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<a class="anchor" id="ga4b2080c6002ea758f49d748ecf8db28b"></a>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int16_t pixy_PID_Y </td>
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<td>(</td>
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<td class="paramtype">int16_t </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int16_t </td>
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<td class="paramname"><em>w</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Execute one step of PID regulation for the Y-servo. </p><dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x</td><td>desired value (e.g. current y-position of the biggest block) </td></tr>
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<tr><td class="paramname">w</td><td>actual value (e.g desired y-position) </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>The offset which needs to be added to the Y-Servo position </dd></dl>
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<p>Definition at line <a class="el" href="pixy__control_8c_source.html#l00044">44</a> of file <a class="el" href="pixy__control_8c_source.html">pixy_control.c</a>.</p>
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<div class="fragment"><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> {</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">float</span> e = 0;</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">static</span> <span class="keywordtype">float</span> esum = 0;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">static</span> <span class="keywordtype">float</span> eold = 0;</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">float</span> <a class="code" href="struct_block.html#ab0580f504a7428539be299fa71565f30">y</a> = 0;</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  e = (float)(<a class="code" href="struct_block.html#a4dde988b1b2adba65ae3efa69f65d960">x</a> - w); <span class="comment">// calculate the controller offset</span></div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="comment">//----PID-control-------------------------------------------------------------------------</span></div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  esum = esum + e; <span class="comment">// add e to the current sum</span></div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  y += <a class="code" href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a> * e; <span class="comment">// add the proportional part to the output</span></div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  y += <a class="code" href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a> * <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a> * esum; <span class="comment">// add the integral part to the output</span></div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  y += <a class="code" href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a> * (e - eold) / <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a>; <span class="comment">// add the differential part to the output</span></div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="comment">//----------------------------------------------------------------------------------------</span></div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  eold = e; <span class="comment">// save the previous value</span></div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> (int16_t)<a class="code" href="struct_block.html#ab0580f504a7428539be299fa71565f30">y</a>;</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> }</div>
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<div class="ttc" id="pixy__control_8c_html_a518bf70ad380fa7605e895f59ba08249"><div class="ttname"><a href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a></div><div class="ttdeci">#define REG_PID_KI</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00038">pixy_control.c:38</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_aa229051d61aedca94d95afa01c6ab3fe"><div class="ttname"><a href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a></div><div class="ttdeci">#define REG_PID_KP</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00037">pixy_control.c:37</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_ac490324cc61d8be6f8cd13076c0b5644"><div class="ttname"><a href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a></div><div class="ttdeci">#define REG_PID_TA</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00040">pixy_control.c:40</a></div></div>
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<div class="ttc" id="struct_block_html_ab0580f504a7428539be299fa71565f30"><div class="ttname"><a href="struct_block.html#ab0580f504a7428539be299fa71565f30">Block::y</a></div><div class="ttdeci">uint16_t y</div><div class="ttdef"><b>Definition:</b> <a href="pixy_8h_source.html#l00081">pixy.h:81</a></div></div>
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<div class="ttc" id="struct_block_html_a4dde988b1b2adba65ae3efa69f65d960"><div class="ttname"><a href="struct_block.html#a4dde988b1b2adba65ae3efa69f65d960">Block::x</a></div><div class="ttdeci">uint16_t x</div><div class="ttdef"><b>Definition:</b> <a href="pixy_8h_source.html#l00080">pixy.h:80</a></div></div>
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<div class="ttc" id="pixy__control_8c_html_a270b42ec5ef46a54c91fe1958d551231"><div class="ttname"><a href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a></div><div class="ttdeci">#define REG_PID_KD</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00039">pixy_control.c:39</a></div></div>
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<p><div class="dynheader">
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Here is the caller graph for this function:</div>
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Generated on Mon Jun 8 2015 11:01:19 for discoverpixy by  <a href="http://www.doxygen.org/index.html">
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</a> 1.8.9.1
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