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49 lines
1.3 KiB
C
49 lines
1.3 KiB
C
/*
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pid.h - An embedded CNC Controller with rs274/ngc (g-code) support
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PID algorithm for closed loop control
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NOTE: not referenced in the core grbl code
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Part of grblHAL
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Copyright (c) 2020-2021 Terje Io
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _PID_H_
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#define _PID_H_
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#include <stdbool.h>
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#include "settings.h"
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typedef struct {
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pid_values_t cfg;
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float deadband;
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float i_error;
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float d_error;
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float sample_rate_prev;
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float error;
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float max_error;
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} pidf_t;
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void pidf_reset (pidf_t *pid);
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void pidf_init(pidf_t *pid, pid_values_t *config);
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bool pidf_config_changed (pidf_t *pid, pid_values_t *config);
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float pidf (pidf_t *pid, float command, float actual, float sample_rate);
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#endif
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