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#ifndef PID_H_
#define PID_H_
#include "fixpt.h"
struct pid_k_set {
fixpt_t kp;
fixpt_t ki;
fixpt_t kd;
fixpt_t d_decay_div;
};
struct pid {
struct pid_k_set k;
fixpt_t setpoint;
fixpt_t i_neglim;
fixpt_t i_poslim;
fixpt_t y_neglim;
fixpt_t y_poslim;
fixpt_t prev_e;
fixpt_t integr;
};
void pid_reset(struct pid *pid);
void pid_set_factors(struct pid *pid, const struct pid_k_set *k);
void pid_init(struct pid *pid,
const struct pid_k_set *k,
fixpt_t i_neglim, fixpt_t i_poslim,
fixpt_t y_neglim, fixpt_t y_poslim);
static inline void pid_set_setpoint(struct pid *pid, fixpt_t setpoint)
{
pid->setpoint = setpoint;
}
static inline fixpt_t pid_get_setpoint(struct pid *pid)
{
return pid->setpoint;
}
fixpt_t pid_run(struct pid *pid, fixpt_t dt, fixpt_t r);
#endif /* PID_H_ */
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