pid.h

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#ifndef LIBA_PID_H
#define LIBA_PID_H
 
#include "a.h"

 
typedef struct a_pid a_pid;
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */

#define a_pid_init(ctx) a_pid_zero(ctx)

A_EXTERN void a_pid_set_kpid(a_pid *ctx, a_real kp, a_real ki, a_real kd);

A_EXTERN a_real a_pid_run(a_pid *ctx, a_real set, a_real fdb);

A_EXTERN a_real a_pid_pos(a_pid *ctx, a_real set, a_real fdb);

A_EXTERN a_real a_pid_inc(a_pid *ctx, a_real set, a_real fdb);

A_EXTERN void a_pid_zero(a_pid *ctx);
 
#if defined(__cplusplus)
} /* extern "C" */
namespace a
{
typedef struct a_pid pid;
} /* namespace a */
#endif /* __cplusplus */

struct a_pid
{
    a_real kp; 
    a_real ki; 
    a_real kd; 
    a_real summax; 
    a_real summin; 
    a_real sum; 
    a_real outmax; 
    a_real outmin; 
    a_real out; 
    a_real var; 
    a_real fdb; 
    a_real err; 
#if defined(__cplusplus)
    A_INLINE void init() { a_pid_init(this); }
    A_INLINE void set_kpid(a_real kp_, a_real ki_, a_real kd_)
    {
        a_pid_set_kpid(this, kp_, ki_, kd_);
    }
    A_INLINE a_real run(a_real set, a_real fdb_)
    {
        return a_pid_run(this, set, fdb_);
    }
    A_INLINE a_real pos(a_real set, a_real fdb_)
    {
        return a_pid_pos(this, set, fdb_);
    }
    A_INLINE a_real inc(a_real set, a_real fdb_)
    {
        return a_pid_inc(this, set, fdb_);
    }
    A_INLINE void zero() { a_pid_zero(this); }
#endif /* __cplusplus */
};

 
#endif /* a/pid.h */