pid.h

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/**************************************************************************/
#ifndef MINIFOC_ALGORITHM_PID_H_
#define MINIFOC_ALGORITHM_PID_H_
 
#define TORQUE_LOOP_CONTROL     1
#define SPEED_LOOP_CONTROL      2
#define ANGLE_LOOP_CONTROL      3
 
typedef struct {
    float kp;           
    float ki;           
    float kd;           
    float summary;      
    float expect;       
    float maximum;      
    float minimum;      
    float sum_maximum;  
    float last_error;   
} PID_Structure_t;
 
extern unsigned char pid_parameter_available_flag;
extern volatile unsigned char pid_control_mode_flag;
extern volatile PID_Structure_t speed_pid_handler;
extern volatile PID_Structure_t angle_pid_handler;
void pid_config(unsigned char mode);
float pid_calculate_result(PID_Structure_t *pid_handler, float collect);
 
#endif //MINIFOC_ALGORITHM_PID_H_