Diff: Robot/inc/pid.h

Revision:

0:fb4269aa5fb4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot/inc/pid.h	Fri May 26 03:51:19 2017 +0000
@@ -0,0 +1,38 @@
+/* 
+ * File:   pid.h
+ * Author: Owner
+ *
+ * Created on 2016/02/29, 1:12
+ */
+
+#ifndef PID_H
+#define	PID_H
+
+#include <stdint.h>
+
+#define PID_CONTROL_ENABLE      1
+#define PID_CONTROL_DISABLE     0
+
+typedef struct{
+        
+	float kp;
+	float kd;
+	float ki;
+	float diff[2];
+	float i_term;
+	
+	uint32_t is_enabled;
+	uint32_t is_initialized;
+
+} PID_Struct;
+
+void PID_Struct_Init(PID_Struct *, float, float, float);
+void PID_Enable_Control(PID_Struct *);
+void PID_Disable_Control(PID_Struct *);
+uint32_t PID_Check_Status(PID_Struct *);
+float PID_Control(PID_Struct *, float, float);
+float PD_Control(PID_Struct *, float, float);
+float PI_Control(PID_Struct *, float, float);
+
+#endif	/* PID_H */
+