mainloop/* moved to root

2022-09-27 20:01:14 +02:00
parent 8e211fd8fb
commit 5dd7f4a277
40 changed files with 895 additions and 35 deletions
--- a/pidcont.h
+++ b/pidcont.h
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2022 Oleg Borodin  <borodin@unix7.org>
+ *
+ */
+
+
+#ifndef PIDCONT_H_QWERTY
+#define PIDCONT_H_QWERTY
+
+
+typedef struct {
+    double perror;
+    double integ;
+
+    double kp;
+    double ki;
+    double kd;
+} pidcont_t;
+
+
+void pidcont_init(pidcont_t* p);
+void pidcont_setup(pidcont_t* p, double kp, double ki, double kd);
+double pidcont_apply(pidcont_t* p, double target, double actual, double dt);
+
+#endif