pid.h

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#ifndef PID_H
#define PID_H

#include <stdint.h>
#include <stdbool.h>

typedef struct pid_controller_t {
    // Setpoint
    int32_t setpoint;
    // PID Coefficients
    int16_t kp; // Proportional
    int16_t ki; // Integral
    int16_t kd; // Derivitive
    // Error
    int32_t prev_error;  // Used in Derivitive Calc
    int32_t prev_i;
    int32_t max_i;
    // Integral/Derivitive dt calculation
    uint32_t prev_time;
} pid_controller_t;


void PID_Reset(pid_controller_t *pid_handle);

int32_t PID_Step(pid_controller_t *pid_handle, int32_t meas);

#endif