15 lines
312 B
C
15 lines
312 B
C
#ifndef PID_H
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#define PID_H
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typedef struct {
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float kp, ki, kd;
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float integral;
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float last_error;
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float max_out;
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float max_integral;
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} pid_t;
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void pid_init(pid_t *pid, float kp, float ki, float kd, float max_out, float max_i);
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float pid_calc(pid_t *pid, float target, float actual);
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#endif |