pid.h

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/*
 * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef __PID_H
#define __PID_H

#include "../main.h"

typedef struct
{
    float32_t kp, 
              ki, 
              kd, 
              arw, 
              previousErr, 
              integrator, 
              current, 
              target, 
              command, 
              feedforward; 
} pid_Pid;

void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd,
              float32_t arw, float32_t feedforward);
float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt);

#endif