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52 lines
1.1 KiB
52 lines
1.1 KiB
/**
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* adapted from the Arduino PID library
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*
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* Created on 2020/01/08.
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*/
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#ifndef ARDUINOPID_H
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#define ARDUINOPID_H
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#include <stdint.h>
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enum PIDCtlMode {
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PID_MANUAL = 0,
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PID_AUTOMATIC = 1,
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};
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enum PIDDirection {
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PID_DIRECT = 0,
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PID_REVERSE = 1,
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};
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struct PID {
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/*working variables*/
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uint32_t lastTime;
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float Input, Output, Setpoint;
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float ITerm, lastInput;
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float kp, ki, kd;
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uint32_t SampleTimeTicks;
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float outMin, outMax;
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enum PIDCtlMode ctlMode; // false
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enum PIDDirection controllerDirection;
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};
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#define PID_DEFAULT() { .SampleTimeMs = 1000, .ctlMode=PID_MANUAL, .controllerDirection=PID_DIRECT }
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void PID_Compute(struct PID *self, float input);
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void PID_SetTunings(struct PID *self, float Kp, float Ki, float Kd);
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void PID_SetSampleTime(struct PID *self, uint32_t new_sample_time);
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void PID_SetOutputLimits(struct PID *self, float min, float max);
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void PID_SetCtlMode(struct PID *self, enum PIDCtlMode mode);
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void PID_Initialize(struct PID *self);
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void PID_SetSetpoint(struct PID *self, float setpoint);
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void PID_SetControllerDirection(struct PID *self, enum PIDDirection direction);
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#endif //ARDUINOPID_H
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