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make PID controller mathemtaically correct

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Mario Hüttel
2020-05-25 01:56:54 +02:00
parent 355e81ba44
commit e659c6d097
3 changed files with 24 additions and 12 deletions
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6
stm-firmware/include/reflow-controller/pid-controller.h
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@@ -25,15 +25,19 @@ struct pid_controller {
float k_deriv;
float k_int;
float k_p;
float k_int_t;
float k_deriv_t;
float output_sat_max;
float output_sat_min;
float integral_max;
float sample_period;
volatile float control_output;
volatile float last_in;
volatile float integral;
volatile float derivate;
};
void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p, float output_sat_min, float output_sat_max, float integral_max);
void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p, float output_sat_min, float output_sat_max, float integral_max, float sample_period);
void pid_zero(struct pid_controller *pid);