first commit

PID.h

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+#ifndef PID_CONTROLLER_H
+#define PID_CONTROLLER_H
+
+#include <stdbool.h>
+
+typedef struct {
+
+    /* Controller gains */
+    float Kp;
+    float Ki;
+    float Kd;
+
+    /* Default controller gains */
+    float KpDefault;
+    float KiDefault;
+    float KdDefault;
+
+    /* Derivative low-pass filter time constant */
+    float tau;
+
+    /* Output limits */
+    float limMin;
+    float limMax;
+
+    /* Integrator limits */
+    float limMinInt;
+    float limMaxInt;
+
+    /* Sample time (in seconds) */
+    float T;
+
+    bool enable;
+
+    /* Controller "memory" */
+    float proportional;
+    float integrator;
+    float prevError;            /* Required for integrator */
+    float differentiator;
+    float prevMeasurement;        /* Required for differentiator */
+
+    /* Controller output */
+    float out;
+
+} PidController;
+
+void pidControllerInit(PidController *pid, float Kp, float Ki, float Kd, float tau, float limMin, float limMax,
+                       float limMinInt, float limMaxInt, float T);
+
+float pidControllerUpdate(PidController *pid, float setpoint, float measurement);
+
+#endif //PID_CONTROLLER_H