set_pid_by_frequency

Configure the selected PID controller using crossover frequencies. Channel 1 configures the fast controller, channel 2 configures the slow controller.

When proportional gain is enabled (prop_gain is set), int_crossover and diff_crossover are the integrator and differentiator crossover frequencies. When proportional gain is disabled there is no crossover point, so int_crossover and diff_crossover are instead interpreted as the integrator and differentiator unity gain frequencies. This mirrors the Moku app, which relabels these fields depending on whether proportional gain is active.

Parameters

channel integer required

Target channel

allowed values:1, 2

prop_gain number

Proportional gain factor

default: undefined

allowed values:-60 to 60

units: dB

int_crossover number

Integrator crossover frequency, or unity gain frequency when proportional gain is disabled

default: undefined

allowed values:31.25e-3 to 312.5e3

units: Hz

diff_crossover number

Differentiator crossover frequency, or unity gain frequency when proportional gain is disabled

default: undefined

allowed values:312.5e-3 to 3.125e6

units: Hz

double_int_crossover number

Second integrator crossover frequency

default: undefined

allowed values:31.25e-3 to 312.5e3

units: Hz

int_saturation number

Integrator gain saturation

default: undefined

allowed values:-60 to 60

units: dB

diff_saturation number

Differentiator gain saturation

default: undefined

allowed values:-60 to 60

units: dB

invert number

Invert PID

default: false

strict boolean

Disable all implicit conversions and coercions.

default: true

Examples

Sample response

{
    "int_crossover": 3100.0,
    "int_saturation": 40.0,
    "invert": false,
    "prop_gain": -10.0
}