41 lines
1.4 KiB
C
41 lines
1.4 KiB
C
/*
|
|
* This file is part of the libsidservo project.
|
|
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stddef.h>
|
|
|
|
#include "sidservo.h"
|
|
|
|
typedef struct {
|
|
PIDpar_t gain; // PID gains
|
|
double prev_error; // Previous error
|
|
double integral; // Integral term
|
|
double *pidIarray; // array for Integral
|
|
double prevT; // time of previous correction
|
|
size_t pidIarrSize; // it's size
|
|
size_t curIidx; // and index of current element
|
|
} PIDController_t;
|
|
|
|
PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz);
|
|
void pid_clear(PIDController_t *pid);
|
|
void pid_delete(PIDController_t **pid);
|
|
double pid_calculate(PIDController_t *pid, double error, double dt);
|
|
|
|
mcc_errcodes_t correct2(const coordval_pair_t *target);
|