1 #pragma once 2 3 #include <cstdint> 4 5 namespace ec 6 { 7 8 typedef struct 9 { 10 float min; 11 float 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 float ts; // sample time in seconds 22 float integral; // intergal of error 23 float last_output; // value of last output 24 25 float p_c; // coeff for P 26 float i_c; // coeff for I 27 float ff_off; // offset coeff for feed-forward term 28 float 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 float slew_neg; 33 float slew_pos; 34 } pid_info_t; 35 36 float pid(pid_info_t* pidinfoptr, float input, float setpoint); 37 38 /* Condensed version for use by the configuration. */ 39 struct pidinfo 40 { 41 float ts; // sample time in seconds 42 float p_c; // coeff for P 43 float i_c; // coeff for I 44 float ff_off; // offset coeff for feed-forward term 45 float 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 float slew_neg; 49 float slew_pos; 50 }; 51 52 53 } 54