15 lines
499 B
C
15 lines
499 B
C
/* (C) András Wiesner, 2021 */
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#ifndef SERVO_PD_CONTROLLER_H_
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#define SERVO_PD_CONTROLLER_H_
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#include <flexptp/ptp_servo_types.h>
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#include <stdint.h>
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void pd_ctrl_init(); // initialize PD controller
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void pd_ctrl_deinit(); // deinitialize PD controller
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void pd_ctrl_reset(); // reset controller
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float pd_ctrl_run(int32_t dt, PtpServoAuxInput * pAux); // run the controller (input: time error in nanosec)
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#endif /* SERVO_PD_CONTROLLER_H_ */
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