First files added

firmware/Core/Inc/pid.h

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+/*
+ * pid.h
+ *
+ *  Created on: Jan 18, 2022
+ *      Author: mcfly
+ */
+
+#ifndef INC_PID_H_
+#define INC_PID_H_
+
+
+typedef struct {
+	//Controller gains
+	float Kp;
+	float Ki;
+	float Kd;
+
+	//Derivative low-pass filter time constant
+	float tau;
+
+	//Output limits
+	float limMin;
+	float limMax;
+
+	//Sample time in seconds
+	float T;
+
+	//Controller "memory"
+	float integrator;
+	float prevError;		//required for integrator
+	float differentiator;
+	float prevMeasurement;	//required for differentiator
+
+	//Controller output
+	float out;
+} PIDController;
+
+void PID_Init(PIDController *pid);
+float PID_Update(PIDController *pid, float setpoint, float measurement);
+
+#endif /* INC_PID_H_ */