[EHaskins]

So this is what I have...

#include "pid.h"
#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "user_routines.h"
#include "printf_lib.h"

int PID_Main (int current, int target, int static_i, int i_max, int i_min,
	int static_p, int p_gain, int i_gain, int d_gain){

	int pout, perr, iout, ierr, derr, dout;
	
	//        calculate errors         \\
	perr = target - current;
	ierr = static_i + perr;
	derr = static_p - perr;

	//           limit ierr            \\
	if (ierr => i_max)
	{
		ierr = i_max;
	}
	else if(ierr =< i_min)
	{
		ierr = i_min;
	}


	// calulate outputs from each part \\
	pout = p_gain * perr;
	iout = i_gain * ierr;
	dout = d_gain * derr;
	
	//       calculate output          \\
	return pout + iout + dout;
	
}

1. I don't know how to retrieve the static variables after the function has processed them.
2. I would also like to create a structure to hold all the info passed to this function so if anyone has any advice on doing that I would appreciate it.

This function may not work properly I had written a single channel PID, but it was early this year and I can't find it. If you see any problems please tell me.

Matt, I was referring to your white paper.

Thanks,
EHaskins