31 lines
403 B
C
31 lines
403 B
C
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#ifndef __PID_H__
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#define __PID_H__
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#include "consts.h"
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struct PIDConfig
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{
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float Kp;
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float Ki;
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float Kd;
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};
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struct PID
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{
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float error;
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float integral;
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float derivative;
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float last_error;
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};
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class PIDController
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{
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public:
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static PIDConfig pidConfig;
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static PID pid;
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static void setConfig(float Kp, float Ki, float Kd);
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static float update(float target, float current);
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};
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#endif
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