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PID.h
00001 #ifndef _PID_H 00002 #define _PID_H 00003 00004 // Shamelessly ripped from the interwebs 00005 00006 typedef struct { 00007 double windup_guard; 00008 double proportional_gain; 00009 double integral_gain; 00010 double derivative_gain; 00011 double prev_error; 00012 double int_error; 00013 double control; 00014 } PID; 00015 00016 void pid_zeroize(PID* pid); 00017 void pid_update(PID* pid, double curr_error, double dt); 00018 00019 #endif
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