HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Functions
pid.c File Reference
`#include "pid.h"`
`#include "utils.h"`

## Functions
void | pid_Init (pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, float32_t arw, float32_t feedforward)
| Initialize the PID structure. More...
float32_t | pid_Step (pid_Pid *pid, float32_t current, float32_t target, float32_t dt)
| Step the PID structure. More...