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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>TMotSCP Struct Reference</h1> </div>
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<p>[SCP] static controller parameters
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>></code></p>
<p><a href="structTMotSCP-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a75c81c7c55a492c6d9ccd08c3f328f2a">maxppwm</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">max. val for pos. voltage <a href="#a75c81c7c55a492c6d9ccd08c3f328f2a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a4529ff05ffdfe11ae47363dafe3a73a2">maxnpwm</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">max. val for neg. voltage; pos! <a href="#a4529ff05ffdfe11ae47363dafe3a73a2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#aa47d98b148778d89cb2dd0ecb25505e4">kP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">prop. factor of pos comp <a href="#aa47d98b148778d89cb2dd0ecb25505e4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#af2e7cb17bbe149f56fb5b65ad0fc1548">kI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">not yet active <a href="#af2e7cb17bbe149f56fb5b65ad0fc1548"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a7d27225a80c89b8b4881af5b6220e4b5">kD</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">derivate factor of pos comp <a href="#a7d27225a80c89b8b4881af5b6220e4b5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a196e97ad1aafd9ddbe6c278fdf75758f">kARW</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">not yet active <a href="#a196e97ad1aafd9ddbe6c278fdf75758f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#ad183a7d76c974511524afe83e7488859">kP_speed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Proportional factor of the speed compensator. <a href="#ad183a7d76c974511524afe83e7488859"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a43a0be6ac51a0193e2ff54328d376636">kI_speed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Integral factor of the speed compensator. <a href="#a43a0be6ac51a0193e2ff54328d376636"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a0618b2f12fd6541cc3eedbe4c7e894fa">kD_speed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Derivative factor of the speed compensator. <a href="#a0618b2f12fd6541cc3eedbe4c7e894fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a287f0e83ce25a2a42ab9cf07a452e2fa">maxppwm_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Max. value for positive voltage (0 => 0%, +70 => 100%) <a href="#a287f0e83ce25a2a42ab9cf07a452e2fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a1bd29014b5e83d5623e53cbccbd7e8a1">maxnpwm_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Max. value for negative voltage (0 => 0%, +70 => 100%) <a href="#a1bd29014b5e83d5623e53cbccbd7e8a1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#ad14709ec96dab87dd226b8e0e26c5fa2">kspeed_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Proportional factor of speed compensator. <a href="#ad14709ec96dab87dd226b8e0e26c5fa2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a60e49ea70d42bcb6f893667cc984ee2b">kpos_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Proportional factor of position compensator. <a href="#a60e49ea70d42bcb6f893667cc984ee2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a822f69b8bcc50d42b8f5340439a6946d">kI_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Integral factor (1/kI) of control output added to the final control output. <a href="#a822f69b8bcc50d42b8f5340439a6946d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#a866807ce75336b5bccc8dee8ad6ebe29">crash_limit_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Limit of error in position. <a href="#a866807ce75336b5bccc8dee8ad6ebe29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structTMotSCP.html#adac8bf96bf305ae115337c52930ddbf8">crash_limit_lin_nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Limit of error in position in linear movement. <a href="#adac8bf96bf305ae115337c52930ddbf8"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>[SCP] static controller parameters </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00109">109</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div><hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="adac8bf96bf305ae115337c52930ddbf8"></a><!-- doxytag: member="TMotSCP::crash_limit_lin_nmp" ref="adac8bf96bf305ae115337c52930ddbf8" args="" -->
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<td class="memname">int <a class="el" href="structTMotSCP.html#adac8bf96bf305ae115337c52930ddbf8">TMotSCP::crash_limit_lin_nmp</a></td>
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<div class="memdoc">
<p>Limit of error in position in linear movement. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00132">132</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a866807ce75336b5bccc8dee8ad6ebe29"></a><!-- doxytag: member="TMotSCP::crash_limit_nmp" ref="a866807ce75336b5bccc8dee8ad6ebe29" args="" -->
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<td class="memname">int <a class="el" href="structTMotSCP.html#a866807ce75336b5bccc8dee8ad6ebe29">TMotSCP::crash_limit_nmp</a></td>
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<div class="memdoc">
<p>Limit of error in position. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00131">131</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a196e97ad1aafd9ddbe6c278fdf75758f"></a><!-- doxytag: member="TMotSCP::kARW" ref="a196e97ad1aafd9ddbe6c278fdf75758f" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a196e97ad1aafd9ddbe6c278fdf75758f">TMotSCP::kARW</a></td>
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<div class="memdoc">
<p>not yet active </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00118">118</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a7d27225a80c89b8b4881af5b6220e4b5"></a><!-- doxytag: member="TMotSCP::kD" ref="a7d27225a80c89b8b4881af5b6220e4b5" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a7d27225a80c89b8b4881af5b6220e4b5">TMotSCP::kD</a></td>
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<p>derivate factor of pos comp </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00117">117</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a0618b2f12fd6541cc3eedbe4c7e894fa"></a><!-- doxytag: member="TMotSCP::kD_speed" ref="a0618b2f12fd6541cc3eedbe4c7e894fa" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a0618b2f12fd6541cc3eedbe4c7e894fa">TMotSCP::kD_speed</a></td>
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<p>Derivative factor of the speed compensator. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00122">122</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="af2e7cb17bbe149f56fb5b65ad0fc1548"></a><!-- doxytag: member="TMotSCP::kI" ref="af2e7cb17bbe149f56fb5b65ad0fc1548" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#af2e7cb17bbe149f56fb5b65ad0fc1548">TMotSCP::kI</a></td>
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<div class="memdoc">
<p>not yet active </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00116">116</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a822f69b8bcc50d42b8f5340439a6946d"></a><!-- doxytag: member="TMotSCP::kI_nmp" ref="a822f69b8bcc50d42b8f5340439a6946d" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a822f69b8bcc50d42b8f5340439a6946d">TMotSCP::kI_nmp</a></td>
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<p>Integral factor (1/kI) of control output added to the final control output. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00130">130</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a43a0be6ac51a0193e2ff54328d376636"></a><!-- doxytag: member="TMotSCP::kI_speed" ref="a43a0be6ac51a0193e2ff54328d376636" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a43a0be6ac51a0193e2ff54328d376636">TMotSCP::kI_speed</a></td>
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<p>Integral factor of the speed compensator. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00121">121</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="aa47d98b148778d89cb2dd0ecb25505e4"></a><!-- doxytag: member="TMotSCP::kP" ref="aa47d98b148778d89cb2dd0ecb25505e4" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#aa47d98b148778d89cb2dd0ecb25505e4">TMotSCP::kP</a></td>
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<p>prop. factor of pos comp </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00115">115</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ad183a7d76c974511524afe83e7488859"></a><!-- doxytag: member="TMotSCP::kP_speed" ref="ad183a7d76c974511524afe83e7488859" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#ad183a7d76c974511524afe83e7488859">TMotSCP::kP_speed</a></td>
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<p>Proportional factor of the speed compensator. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00120">120</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a60e49ea70d42bcb6f893667cc984ee2b"></a><!-- doxytag: member="TMotSCP::kpos_nmp" ref="a60e49ea70d42bcb6f893667cc984ee2b" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a60e49ea70d42bcb6f893667cc984ee2b">TMotSCP::kpos_nmp</a></td>
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<p>Proportional factor of position compensator. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00129">129</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ad14709ec96dab87dd226b8e0e26c5fa2"></a><!-- doxytag: member="TMotSCP::kspeed_nmp" ref="ad14709ec96dab87dd226b8e0e26c5fa2" args="" -->
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#ad14709ec96dab87dd226b8e0e26c5fa2">TMotSCP::kspeed_nmp</a></td>
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<p>Proportional factor of speed compensator. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00128">128</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a4529ff05ffdfe11ae47363dafe3a73a2"></a><!-- doxytag: member="TMotSCP::maxnpwm" ref="a4529ff05ffdfe11ae47363dafe3a73a2" args="" -->
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<p>max. val for neg. voltage; pos! </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00114">114</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<p>Max. value for negative voltage (0 => 0%, +70 => 100%) </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00127">127</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<p>max. val for pos. voltage </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00113">113</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<td class="memname"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> <a class="el" href="structTMotSCP.html#a287f0e83ce25a2a42ab9cf07a452e2fa">TMotSCP::maxppwm_nmp</a></td>
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<p>Max. value for positive voltage (0 => 0%, +70 => 100%) </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00126">126</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a></li>
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