pid.h
6b8b7b822237simple-adc-acquire

pid.h
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			#ifndef __PID_H
			#define __PID_H

			#include "../main.h"

			/** @defgroup PID Lib / PID regulator
			* @brief Proportionnal-integral-derivative regulator with integrator
			* saturation capability.
			*
			* First, instantiate a pid_Pid structure (e.g. "pid_Pid pid;"), then
			* initialize it once with pid_Init(). Then, every time a new command needs to
			* be computed (typically when a new measurement arrives), call pid_Step().
			*
			* @addtogroup PID
			* @{
			*/

			/**
			*@brief PID regulator structure
			*/
			typedef struct
			{
			float32_t kp, ///< Proportional coefficient.
			ki, ///< Integral coefficient. Disabled if negative or zero.
			kd, ///< Derivative coefficient.
			arw, ///< Max value of the integrator ("anti-reset windup"). Disabled if negative or zero.
			previousErr, ///< Error (current-target) at the previous timestep, for derivative computation.
			integrator, ///< Integrator value for the integral part of the PID.
			command, ///< Output command computed by the PID regulator.
			feedforward; ///< Feedforward coefficient.
			} pid_Pid;

			void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd,
			float32_t arw, float32_t feedforward);
			float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt);

			/**
			* @}
			*/

			#endif