/**
* @file ALGO_PID_ATY.h
*
* @param Project ALGO_Algorithm_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2023 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief Familiar functions of CRC for all codes
*
* @version
*       - 1_01_200318 > ATY
*           -# Preliminary version, first Release
*       - 1_02_200318 > ATY
*           -# Add Conditional Compilation
*           -# Add user port
*           -Undone
**********************************************************************************
*/

#ifndef __ALGO_PID_ATY_H
#define __ALGO_PID_ATY_H

#include "INCLUDE_ATY.h"

/******************************* For user *************************************/
// #define __DEBUG_ALGO_PID_ATY

/******************************************************************************/

typedef struct PID{
    double SetPoint;            // Set point desired value
    double Proportion;          // Proportional const
    double Integral;            // Integral const
    double Derivative;          // Derivative const
    double LastError;           // Error[-1]
    double PrevError;           // Error[-2]
    double SumError;            // Sums of errors
}PID;

double PidCalc(PID* pidStruct, double nextPoint);
void PidInitZero(PID* pidStruct);
void PidClearZero(PID* pidStruct);

#ifdef __DEBUG_ALGO_PID_ATY
void Actuator(double rDelta);
void PidControl(void);
#endif /* __DEBUG_ALGO_PID_ATY */


#endif  /* __ALGO_PID_ATY_H */

/******************************** End Of File *********************************/