diff options
Diffstat (limited to 'src/core/lib/transport/pid_controller.h')
| -rw-r--r-- | src/core/lib/transport/pid_controller.h | 17 |
1 files changed, 15 insertions, 2 deletions
diff --git a/src/core/lib/transport/pid_controller.h b/src/core/lib/transport/pid_controller.h index 83c82d6471..0a86521e90 100644 --- a/src/core/lib/transport/pid_controller.h +++ b/src/core/lib/transport/pid_controller.h @@ -45,20 +45,33 @@ typedef struct { double gain_p; double gain_i; double gain_d; + double initial_control_value; + double min_control_value; + double max_control_value; + double integral_range; +} grpc_pid_controller_args; + +typedef struct { double last_error; double error_integral; + double last_control_value; + double last_dc_dt; + grpc_pid_controller_args args; } grpc_pid_controller; /** Initialize the controller */ void grpc_pid_controller_init(grpc_pid_controller *pid_controller, - double gain_p, double gain_i, double gain_d); + grpc_pid_controller_args args); /** Reset the controller: useful when things have changed significantly */ void grpc_pid_controller_reset(grpc_pid_controller *pid_controller); /** Update the controller: given a current error estimate, and the time since - the last update, returns a delta to the control value */ + the last update, returns a new control value */ double grpc_pid_controller_update(grpc_pid_controller *pid_controller, double error, double dt); +/** Returns the last control value calculated */ +double grpc_pid_controller_last(grpc_pid_controller *pid_controller); + #endif /* GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H */ |