====== Tracking PI Selector ======

{{:en:mervis-ide:35-help:trackingpiselector.png}}

==== Full Name ====

Lib.Mervis.v1_0.TrackingPiSelector

==== Required Project References ====

  * Lib.Mervis

===== Description =====

This auxiliary block is used for selecting a PI controller in tracking mode.

===== Usage in ST =====

<code>
program test
    var
        trackingSelector: lib.mervis.v1_0.TrackingPiSelector;
    end_var

    trackingSelector();
end_program
</code>

===== Inputs =====

|Name            |Data Type                                              |Allowed Range|Retain|Required                        |Meaning|
|Input1          |real                                                   |             |No    |Yes       |Output of the first PI controller        |      |
|Input2          |real                                                   |             |No    |Yes       |Output of the second PI controller       |      |
|TrackingFunction|[[TrackingFunctionType.htm|TrackingFunctionType]]      |             |No    |No        |Selection choice - minimum or maximum   |      |
|Input1Threshold |real                                                   |             |No    |No        |Threshold for switching to the first PI controller|      |
|Input2Threshold |real                                                   |             |No    |No        |Threshold for switching to the second PI controller|      |

===== Outputs =====

|Name          |Data Type      |Meaning                                                                                   |
|TrackCommand1 |bool           |Control of the tracking mode for the first controller - input //TrackingEnable//         |      |
|TrackCommand2 |bool           |Control of the tracking mode for the second controller - input //TrackingEnable//        |      |
|Output        |real           |Output, also needs to be connected to the //TrackingValue// input of the PI controller   |      |

===== Detailed Function Description =====

This functional block selects which PI controller should be used in tracking mode based on the specified thresholds and tracking function. It provides commands to switch the tracking mode on or off for each PI controller and outputs the value that should be tracked.