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