18 lines
333 B
C
18 lines
333 B
C
#ifndef __PID_CONTROL_H
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#define __PID_CONTROL_H
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struct _PID {
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float Kp;
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float Ki;
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float Kd;
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unsigned long Timestamp_Last;
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float Last_Error;
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float Last_intergration;
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float Last_Output;
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};
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float PID_Controller(struct _PID *pid, float error);
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float _constrain(float amt, float low, float high);
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#endif
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