Global Var

I am not sure I understand what you are doing here: are you terminating the task that does your PID calculations just after one cycle? this is not the way to implemented a closed loop using a PID controller, of any controller whatsoever that is based on feedback.

I am not sure I understand what you are doing here: are you terminating the task that does your PID calculations just after one cycle? this is not the way to implemented a closed loop using a PID controller, of any controller whatsoever that is based on feedback.

Hi Tamir,

My idea is:
- I have a WRITE task that initialize the PID task:

                  os_create_task(A);
                  os_create_task(B);
                  os_create_task(C);

                  os_wait(K_SIG, WAIT_FOREVER,0);       /* Espera hasta que algun PID actualice el valor */
                  os_clear_signal(WRITE);

This 3 task should update my global var called iAiBiC respectly.

After i send the result of the PIDs to serial port for comunications with a simulator.

Tamir!

How you implement a PID in a task to controller a system??
Thanks

javi,
forget about your task for a moment. first of all you need conversion tables - for example, if you want to maintain constants speed of a system using a PID controller, assuming you have a speed sensor, you would translate your speed error (that is, set point minus actual speed) to desired current (based on the known properties of your system - speed control valve of some kind) and then again, convert that to a duty cycle (based on the properties on a valve that regulate the speed). and of course, this must be done for as long as speed control is required, so that the system can make continuous adjustments!
please note that you do not need a task to do this. if you choose to use one - do not terminate it unless you want to stop closed loop control.