AirControlValve/User/pid.h

/* Copyright Statement:
 *
 * This software/firmware and related documentation ("AutoChips Software") are
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/*************<start>******************/

#ifndef PID_H__
#define PID_H__

#if 1
#ifdef __cplusplus
extern "C" {
#endif


#include "ac780x.h"


typedef struct
{
   	float kp, ki, kd; //三个系数
    float error, lastError; //误差、上次误差
    float integral, maxIntegral; //积分、积分限幅
    float output, maxOutput; //输出、输出限幅
}PID;


void PID_Init(PID *pid, float p, float i, float d, float maxI, float maxOut);
void PID_Calc(PID *pid, float reference, float feedback);


#ifdef __cplusplus
}
#endif


#endif 

#endif //PID_H__