34 lines
666 B
C
34 lines
666 B
C
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#pragma once
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#include "stdint.h"
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enum PID_MODE
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{
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PID_POSITION = 0,
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PID_DELTA
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};
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typedef struct pid_type
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{
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uint8_t mode;
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// PID parameters
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float Kp;
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float Ki;
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float Kd;
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float max_out; // max output
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float max_iout; // max integral output
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float set;
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float fdb;
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float out;
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float Pout;
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float Iout;
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float Dout;
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float Dbuf[3]; // diff buffer 0 save now 1 save last 2 save last last
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float error[3]; //
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} pid_type_t;
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extern void pid_init(pid_type_t *pid, uint8_t mode, float Kp, float Ki, float Kd, float max_out, float max_iout);
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extern float pid_calc(pid_type_t *pid, float ref, float set);
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extern void pid_clear(pid_type_t *pid);
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