51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
/**
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* @file pid.h
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* @brief
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*
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* Copyright (c) 2021 Bouffalolab team
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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*/
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#ifndef __PID_H__
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#define __PID_H__
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#include "stdio.h"
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typedef struct pid_alg {
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float set_val;
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float out_val;
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float kp;
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float ki;
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float kd;
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float i_error;
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float last_error;
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float prev_error;
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float sum_error;
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int max_val;
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int min_val;
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} pid_alg_t;
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void pid_init(pid_alg_t *pid);
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float standard_pid_cal(pid_alg_t *pid, float next_val);
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float increment_pid_cal(pid_alg_t *pid, float next_val);
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#endif
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