pid_controller.h

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#ifndef INC_PID_CONTROLLER_H_
#define INC_PID_CONTROLLER_H_
 
#include "stm32l073xx.h"

typedef struct{
    int previous_error;        
    int total_error;           
    float Kp;                  
    float Ki;                  
    float Kd;                  
    int anti_windup_limit;     
    int total_error_limit;     
}pid_struct;
 
#define MOTOR_Kp 1.2            
#define MOTOR_Ki 0.1            
#define MOTOR_Kd 0.2            
#define MOTOR_ANTI_WINDUP 1000  
#define MOTOR_TOTAL_ERROR_LIMIT 150  

void pid_init(pid_struct *pid_data);

void pid_reset(pid_struct *pid_data);

int pid_calculate(pid_struct *pid_data, int setpoint, int process_variable);
 
#endif /* INC_PID_CONTROLLER_H_ */