From a4814620deb3ffefb7a9a2dde6983751208bfee1 Mon Sep 17 00:00:00 2001
From: atse <atse@m-labs.hk>
Date: Mon, 18 Nov 2024 15:32:35 +0800
Subject: [PATCH] README: Add PID Output Clamping section

Explains the need of having separate "max_i_pos/output_max" and
"max_i_neg/output_min" values; They serve different purposes.
---
 README.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/README.md b/README.md
index 6528bac..30272ec 100644
--- a/README.md
+++ b/README.md
@@ -239,6 +239,22 @@ of channel 0 to the PID algorithm:
 output 0 pid
 ```
 
+### PID output clamping
+
+It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
+
+Note that the actual output will still be ultimately limited by the `max_i_pos` and `max_i_neg` values, and will not exceed them.
+
+Set PID maximum output of channel 0 to 1.5 A.
+```
+pid 0 output_max 1.5
+```
+
+Set PID minimum output of channel 0 to 0.1 A.
+```
+pid 0 output_min 0.1
+```
+
 ## LED indicators
 
 | Name | Color | Meaning                        |