pid.h

[詳解]

 
#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    SL_FP_T kp;
    SL_FP_T ki;
    SL_FP_T kd;
} pid_params_t;

typedef struct {
    pid_params_t params;
    SL_FP_T prev_p;
    SL_FP_T prev_i;
    SL_FP_T actual_value;
} pid_data_t;

pid_params_t create_pid_params(SL_FP_T kp, SL_FP_T ki, SL_FP_T kd);

pid_data_t create_pid_data(pid_params_t params);

SL_FP_T process_pid(pid_data_t *pid_data, SL_FP_T target);
 
#ifdef __cplusplus
}
#endif