Diff: PID.h

Revision:

0:33b00fa05201

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Fri Dec 20 15:17:18 2019 +0000
@@ -0,0 +1,48 @@
+
+#ifndef PID_H
+#define PID_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef struct
+{	// Input, output and setpoint
+	float * input; 
+	float * output; 
+	float * setpoint; 
+	// Tuning parameters
+	float Kp; 
+	float Ki; 
+	float Kd; 
+	// Output minimum and maximum values
+	float minOutput; 
+	float maxOutput; 
+	// Variables for PID algorithm
+	float sumError; 
+	float lastInput; 
+	float lastError;
+}pid;
+
+#ifdef	__cplusplus
+extern "C" {
+#endif
+
+	pid* pid_create(pid* pid, float* input, float* output, float* setoint, float kp, float ki, float kd);
+
+	void pid_compute(pid* pid);
+
+	
+	void pid_tune(pid* pid, float kp, float ki, float kd);
+
+
+	void pid_limits(pid* pid, float min, float max);
+
+
+
+#ifdef	__cplusplus
+}
+#endif
+
+#endif
+// End of Header file
+