rt-robot/controller/controller.h

#ifndef __CONTROLLER_H__
#define __CONTROLLER_H__

#include <rtthread.h>

struct controller_pid_param
{
    float kp;
    float ki;
    float kd;
};

struct controller_param
{
    union
    {
        struct controller_pid_param pid;
    } data;
};

typedef struct controller_param *controller_param_t;

struct controller
{
    float           target;
    float           output;
    rt_uint16_t     sample_time;    // unit:ms
    int             enable;

    rt_err_t        (*update)(void *controller, float current_point);
    rt_err_t        (*reset)(void *controller);
    rt_err_t        (*destroy)(void *controller);
    rt_err_t        (*set_param)(void *controller, controller_param_t param);
};

typedef struct controller *controller_t;

controller_t    controller_create(rt_size_t size, rt_uint16_t sample_time);
rt_err_t        controller_update(controller_t controller, float current_point);
rt_err_t        controller_destroy(controller_t controller);
rt_err_t        controller_enable(controller_t controller);
rt_err_t        controller_disable(controller_t controller);
rt_err_t        controller_reset(controller_t controller);
rt_err_t        controller_set_target(controller_t controller, rt_int16_t target);
rt_err_t        controller_set_sample_time(controller_t controller, rt_uint16_t sample_time);
rt_err_t        controller_set_param(controller_t controller, controller_param_t param);
#endif // __CONTROLLER_H__