c_pid_controllers_lib's Introduction

C-library with floating point P, PI, PD, PID-controllers implementation

This embedded C-library provides the various types of P/I/D-controllers:
- Proportional (P) controller
- Proportional–integral (PI) controller
- Proportional–derivative (PD) controller
- Proportional–integral–derivative (PID) controller
Project structure
- README.md - current file
- LICENSE - file with license description
- fp_pid.h - C-header file with user data types and function prototypes
- fp_pid.c - C-source file with firmware functions
More about P/I/D-controllers here.

HowToUse (example)

	#include "fp_pid.h"
	
	// updatable user variables:
	float MyInValue, MyOutValue;
	
	// 1st step: create and initialize the global variable of user data structure
	tPI sPI = PI_DEFAULTS;
	
	// 2nd step: do some settings
	sPI.fDtSec = 0.0001f;     // set the discretization (sample) time
	sPI.fKp = 0.1f;           // set the proportional coefficient
	sPI.fKi = 0.01f;          // set the integral coefficient
	sPI.fUpOutLim = 140.0f;   // set the PI-controller's output upper limit
	sPI.fLowOutLim = -140.0f; // set the PI-controller's output lower limit
	
	// 3rd step: Next code must be executed every time with sPI.fDtSec period when 
	// new calculation of PI-controller's output is needed
	sPI.fIn = MyInValue;      // set the new value of PI-controller's input
	sPI.m_calc(&sPI);         // call the PI-controller's output calculation function
	MyOutValue = sPI.fOut;    // update MyOutValue variable
	
	// call this function in case only when you need to reset the PI-controller's internal variables
	sPI.m_rst(&sPI);