first commit, by Alekseev

LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2020 Philip Salmony
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

PID_Test.c

@@ -1,65 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "PID.h"
-
-/* Controller parameters */
-#define PID_KP  2.0f
-#define PID_KI  0.5f
-#define PID_KD  0.25f
-
-#define PID_TAU 0.02f
-
-#define PID_LIM_MIN -10.0f
-#define PID_LIM_MAX  10.0f
-
-#define PID_LIM_MIN_INT -5.0f
-#define PID_LIM_MAX_INT  5.0f
-
-#define SAMPLE_TIME_S 0.01f
-
-/* Maximum run-time of simulation */
-#define SIMULATION_TIME_MAX 4.0f
-
-/* Simulated dynamical system (first order) */
-float TestSystem_Update(float inp);
-
-int main()
-{
-    /* Initialise PID controller */
-    PIDController pid = { PID_KP, PID_KI, PID_KD,
-                          PID_TAU,
-                          PID_LIM_MIN, PID_LIM_MAX,
-			  PID_LIM_MIN_INT, PID_LIM_MAX_INT,
-                          SAMPLE_TIME_S };
-
-    PIDController_Init(&pid);
-
-    /* Simulate response using test system */
-    float setpoint = 1.0f;
-
-    printf("Time (s)\tSystem Output\tControllerOutput\r\n");
-    for (float t = 0.0f; t <= SIMULATION_TIME_MAX; t += SAMPLE_TIME_S) {
-
-        /* Get measurement from system */
-        float measurement = TestSystem_Update(pid.out);
-
-        /* Compute new control signal */
-        PIDController_Update(&pid, setpoint, measurement);
-
-        printf("%f\t%f\t%f\r\n", t, measurement, pid.out);
-
-    }
-
-    return 0;
-}
-
-float TestSystem_Update(float inp) {
-
-    static float output = 0.0f;
-    static const float alpha = 0.02f;
-
-    output = (SAMPLE_TIME_S * inp + output) / (1.0f + alpha * SAMPLE_TIME_S);
-
-    return output;
-}