16 lines
495 B
C
16 lines
495 B
C
/* (C) András Wiesner, 2021 */
|
|
|
|
#ifndef SERVO_PD_CONTROLLER_H_
|
|
#define SERVO_PD_CONTROLLER_H_
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "../ptp_servo_types.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_ */
|