pid_floating.h

#ifndef PID_H
#define PID_H

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

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


void PID_Reset(pid_controller_t *pid_handle);

float PID_Step(pid_controller_t *pid_handle, float meas);

#endif