Forum Post: RE: Speed Controller vs Torque Controller in CTRL_runPiOnly

drew, it is updating from the line: // get the Iq reference value refValue = CTRL_getRefValue_Iq_pu(handle); //CTRL_getIq_ref_pu(handle); which is inside the CTRL which is in the closed library. if you use proj_lab11 you will see it's more clear, that the output of the Speed controller updates the gIdq_ref_pu.value[1] for Iq PID_run_spd(pidHandle[0],gMotorVars.SpeedRef_pu,speed_pu, &(gIdq_ref_pu.value[1])); and then used by the Iq controller // get the Iq reference value refValue = gIdq_ref_pu.value[1];