bd7f049b75
SIMPLE CLEAN: cleanup code and add printf handler FIX: counters ADD: motor ENH: temporary disable can ADD: dummy foc, but creepy work
34 lines
No EOL
666 B
C
34 lines
No EOL
666 B
C
#pragma once
|
|
#include "stdint.h"
|
|
|
|
enum PID_MODE
|
|
{
|
|
PID_POSITION = 0,
|
|
PID_DELTA
|
|
};
|
|
|
|
typedef struct pid_type
|
|
{
|
|
uint8_t mode;
|
|
// PID parameters
|
|
float Kp;
|
|
float Ki;
|
|
float Kd;
|
|
|
|
float max_out; // max output
|
|
float max_iout; // max integral output
|
|
|
|
float set;
|
|
float fdb;
|
|
|
|
float out;
|
|
float Pout;
|
|
float Iout;
|
|
float Dout;
|
|
float Dbuf[3]; // diff buffer 0 save now 1 save last 2 save last last
|
|
float error[3]; //
|
|
|
|
} pid_type_t;
|
|
extern void pid_init(pid_type_t *pid, uint8_t mode, float Kp, float Ki, float Kd, float max_out, float max_iout);
|
|
extern float pid_calc(pid_type_t *pid, float ref, float set);
|
|
extern void pid_clear(pid_type_t *pid); |