26 lines
579 B
C
26 lines
579 B
C
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#ifndef PID_H
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#define PID_H
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#include <N76E003.h>
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#include <SFR_Macro.h>
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#include <Function_define.h>
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#include <Common.h>
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#include <Delay.h>
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#include <stdbool.h>
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typedef signed char int8_t;
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typedef int int16_t;
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typedef struct {
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int8_t dstate; //last position input
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int8_t istate; //integrator state
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int8_t imax, imin; //integratir limits
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int8_t vmax,vmin; //result limits
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int8_t pgain, igain, dgain;
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} pid_struct;
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int8_t update_pid(pid_struct *pid, int8_t error, uint8_t position);
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int8_t pid_guard(uint16_t desired, uint16_t current);
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#endif /* PID_H */
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