Jump to main content

##

# 3.3.26.8 tmcPos_Parameters_s Struct

## C

    typedef struct
    {
        float32_t Kp;               /* Proportional gain */
        float32_t Ki;               /* Integral gain */
        float32_t dt;               /* Time step */
        void * pStatePointer;       /* Pointer to state information */
    } tmcPos_Parameters_s;

## Summary

Position control module input parameter structure.

## Description

This structure holds the parameters for the position control module, including PI controller gains, sampling time and position control module state structure.

## Remarks

None.