/* (C) András Wiesner, 2021 */

#ifndef SERVO_PD_CONTROLLER_H_
#define SERVO_PD_CONTROLLER_H_

#include <flexptp/ptp_servo_types.h>
#include <stdint.h>

void pd_ctrl_init();            // initialize PD controller
void pd_ctrl_deinit();          // deinitialize PD controller
void pd_ctrl_reset();           // reset controller
float pd_ctrl_run(int32_t dt, PtpServoAuxInput * pAux); // run the controller (input: time error in nanosec)

#endif                          /* SERVO_PD_CONTROLLER_H_ */