#ifndef __PID_CONTROL_H
#define __PID_CONTROL_H

struct _PID {
  float Kp;
  float Ki;
  float Kd;
  unsigned long Timestamp_Last;
  float Last_Error;
  float Last_intergration;
  float Last_Output;
};

float PID_Controller(struct _PID *pid, float error);
float _constrain(float amt, float low, float high);

#endif