1 #pragma once 2 3 #include <cstdint> 4 5 namespace ec 6 { 7 8 typedef struct 9 { 10 double min; 11 double max; 12 } limits_t; 13 14 /* Note: If you update these structs you need to update the copy code in 15 * pid/util.cpp. 16 */ 17 typedef struct 18 { 19 bool initialized; // has pid been initialized 20 21 double ts; // sample time in seconds 22 double integral; // intergal of error 23 double last_output; // value of last output 24 25 double p_c; // coeff for P 26 double i_c; // coeff for I 27 double ff_off; // offset coeff for feed-forward term 28 double ff_gain; // gain for feed-forward term 29 30 limits_t i_lim; // clamp of integral 31 limits_t out_lim; // clamp of output 32 double slew_neg; 33 double slew_pos; 34 } pid_info_t; 35 36 double pid(pid_info_t* pidinfoptr, double input, double setpoint); 37 38 /* Condensed version for use by the configuration. */ 39 struct pidinfo 40 { 41 double ts; // sample time in seconds 42 double p_c; // coeff for P 43 double i_c; // coeff for I 44 double ff_off; // offset coeff for feed-forward term 45 double ff_gain; // gain for feed-forward term 46 ec::limits_t i_lim; // clamp of integral 47 ec::limits_t out_lim; // clamp of output 48 double slew_neg; 49 double slew_pos; 50 }; 51 52 } // namespace ec 53