add missing files

2021-02-24 18:31:43 +01:00
parent c9d5f33a0b
commit 92f31a1849
4 changed files with 99 additions and 0 deletions
--- a/pid.h
+++ b/pid.h
@@ -0,0 +1,14 @@
+struct pid{
+    // Controller gains
+    float kP;
+    float kI;
+    float kD;
+
+    // State variables
+    float lastError;
+    float integral;
+};
+
+float pid_step(volatile struct pid* controller, float dt, float error);
+void init_pid(volatile struct pid* controller, float p, float i, float d);
+