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#pragma once
#include <cstdint>
namespace ec
{
typedef struct
{
double min;
double max;
} limits_t;
/* Note: If you update these structs you need to update the copy code in
* pid/util.cpp.
*/
typedef struct
{
bool initialized; // has pid been initialized
double ts; // sample time in seconds
double integral; // intergal of error
double lastOutput; // value of last output
double proportionalCoeff; // coeff for P
double integralCoeff; // coeff for I
double feedFwdOffset; // offset coeff for feed-forward term
double feedFwdGain; // gain for feed-forward term
limits_t integralLimit; // clamp of integral
limits_t outLim; // clamp of output
double slewNeg;
double slewPos;
double positiveHysteresis;
double negativeHysteresis;
} pid_info_t;
double pid(pid_info_t* pidinfoptr, double input, double setpoint);
/* Condensed version for use by the configuration. */
struct pidinfo
{
double ts; // sample time in seconds
double proportionalCoeff; // coeff for P
double integralCoeff; // coeff for I
double feedFwdOffset; // offset coeff for feed-forward term
double feedFwdGain; // gain for feed-forward term
ec::limits_t integralLimit; // clamp of integral
ec::limits_t outLim; // clamp of output
double slewNeg;
double slewPos;
double positiveHysteresis;
double negativeHysteresis;
};
} // namespace ec
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