PID-filter routine (2nd try).

[HenrikOlsson]

Hi,
I'm not sure I understand....sorry....

First of all, the SETPOINT variable you have - is it declared as a LONG or as a WORD? If declared as a WORD then I'm not sure how this...

select case setpoint ; Circular count for Setpoint condition
case is > 65535 ; Circular count for Setpoint condition

...will work or what it'll evalute to. A word variable will "automatically" wrap around from 65535->0 and from 0 to 65535. If setpoint is declared as a LONG that seems not needed since you're trying to reset it 0 once it goes above 2^16.

Then there's this line:

IF POSITION pid_Error = setpoint - position

Does it really compile like that?

If you have code that compiles correctly, please post it and I promise I'll do my best to help you. You may also be interested in this thread

/Henrik.

[DDDvvv]

thanks for the quick reply

the setpoint is a word variable, and resets itself from 65535 to 0 and vice versa.
there must have been an error when i copied and pasted, because the sentence reads:

pid_error = setpoint - position

this is a very buggy piece of code, and when i get it working, im going to rearrange and clean it up good.