24 lines
323 B
C
24 lines
323 B
C
#ifndef _PIDCTRL_H_
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#define _PIDCTRL_H_
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#include <stdint.h>
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struct pid_data {
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int32_t kp;
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int32_t ki;
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int32_t err_sum;
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int32_t err_sum_max;
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int32_t err_sum_min;
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int32_t kd;
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int32_t err_old;
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int32_t out_max;
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int32_t out_min;
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};
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int32_t pid_ctrl(struct pid_data *pid, int32_t error);
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#endif /* _PIDCTRL_H_ */
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