Marek Korczak
succes
Diff: PID.h
- Revision:
- 0:c15430f1895f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Sat Feb 11 15:55:34 2017 +0000
@@ -0,0 +1,19 @@
+#ifndef _PID_H
+#define _PID_H
+
+// Shamelessly ripped from the interwebs
+
+typedef struct {
+ double windup_guard;
+ double proportional_gain;
+ double integral_gain;
+ double derivative_gain;
+ double prev_error;
+ double int_error;
+ double control;
+} PID;
+
+void pid_zeroize(PID* pid);
+void pid_update(PID* pid, double curr_error, double dt);
+
+#endif
\ No newline at end of file