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

Data Structures | Functions
pid.h File Reference
`#include "../main.h"`

Go to the source code of this file.

## Data Structures
struct | pid_Pid
| PID regulator structure. More...

## 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...