pid_c_api.h

#ifndef PID_C_API_H
#define PID_C_API_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct PID_Handle* PID_Handle_t;
 
typedef struct {
    float Kp;
    float Ki;
    float Kd;
    float MaxOutput;
    float Deadband;
    float IntegralLimit;
    float DerivativeFilterRC;
    float OutputFilterRC;
} PID_Params_t;

PID_Handle_t PID_Create(const PID_Params_t* params);

void PID_Destroy(PID_Handle_t handle);

float PID_Compute(PID_Handle_t handle, float ref, float measure);

void PID_Reset(PID_Handle_t handle);
 
#ifdef __cplusplus
}
#endif
 
#endif //PID_C_API_H