加入PID

Core/Inc/pid.h

@@ -0,0 +1,15 @@
+#ifndef PID_H
+#define PID_H
+
+typedef struct {
+    float kp, ki, kd;
+    float integral;
+    float last_error;
+    float max_out;
+    float max_integral;
+} pid_t;
+
+void  pid_init(pid_t *pid, float kp, float ki, float kd, float max_out, float max_i);
+float pid_calc(pid_t *pid, float target, float actual);
+
+#endif