#ifndef __PID_H
#define __PID_H
#include "main.h"  

typedef struct {
    float kp;           // ????
    float ki;           // ????  
    float kd;           // ????
    float integral;     // ???
    float prev_error;   // ?????
    float output;       // ???
    float integral_limit; // ????
    float output_limit;   // ????
} PID_Controller_t;

extern void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit); 
extern float PID_Calculate(PID_Controller_t* pid, float error, float dt); 
extern void Motor_PID_Init(); 
extern void PID_PositionClean(PID_Controller_t* pid); 

#endif