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filters.h
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filters.h
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/*
* This file is part of mathlib.
*
* Copyright (C) 2010-2011 Greg Horn <ghorn@stanford.edu>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*/
/*
* filters.h
*/
#ifndef __FILTERS_H__
#define __FILTERS_H__
#include "xyz.h"
#ifndef PID_CONF_T
#define PID_CONF_T
typedef struct pid_conf_t {
double kp;
double ki;
double kd;
double integral_bound;
} pid_conf_t;
#endif // PID_CONF_T
#define PIDCONF_PRINTF(c) printf("%s P: %f I: %f D: %f INTBOUND: %f\n", #c, (c)->kp, (c)->ki, (c)->kd, (c)->integral_bound)
#ifdef __cplusplus
extern "C"{
#endif
void simple_lowpass(double dt, double tau, double *state, double input);
void xyz_simple_lowpass(double dt, double tau, xyz_t * state, const xyz_t * const input);
double simple_pid(const double y,
const double y_dot,
const double r,
const double r_dot,
const double dt,
double *i_state,
const pid_conf_t * const c);
#ifdef __cplusplus
}
#endif
#endif //__FILTERS_H__