// 文件编码: GB18030
/*
 * pid.h
 *
 *  Created on: 2025年3月25日
 *      Author: LHYe200
 */

#ifndef CODE_PID_H_
#define CODE_PID_H_

typedef struct
{
    float kp;
    float ki;
    float kd;

    float p_output;
    float i_output;
    float d_output;
    float output;

    float integral_max;

    float err;
    float err_last;
    float last_derivative;
    float integral;

    float output_max;
    float output_min;
} PID;

void PID_Init(PID *pid, float kp, float ki, float kd, float integral_max, float output_max, float output_min);
void PID_Reset(PID *pid);
float PID_Loc_Ctrl(PID * pid, float err);
float PID_Inc_Ctrl(PID * pid, float err);
float PID_ChangeIntegral_Inc_Ctrl(PID * pid, float err, float change_integral_b, float change_integral_k);
float constrain_float(float amt, float low, float high);


#endif /* CODE_PID_H_ */