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22 lines
434 B
C
22 lines
434 B
C
#ifndef _PID_H_
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#define _PID_H_
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#include <stdint.h>
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struct pid{
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// Controller gains
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float kP;
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float kI;
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float kD;
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// State variables
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float lastError;
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float integral;
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};
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//float pid_step(volatile struct pid* controller, float dt, float error);
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int16_t pid_step(volatile struct pid* controller, float dt, int16_t error);
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void init_pid(volatile struct pid* controller, float p, float i, float d);
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#endif
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