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Contents
/*
* Copyright 2023 Datadog, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// Originally imported from https://github.com/DataDog/java-profiler/blob/11fe6206c31a14c6e5134e8401eaec8b22c618d7/ddprof-lib/src/main/cpp/pidController.h
#ifndef _PIDCONTROLLER_H
#define _PIDCONTROLLER_H
// From arch.h in java-profiler
typedef unsigned long long u64;
/*
* A simple implementation of a PID controller.
* Heavily influenced by https://tttapa.github.io/Pages/Arduino/Control-Theory/Motor-Fader/PID-Cpp-Implementation.html
*/
typedef struct {
u64 _target;
double _proportional_gain;
double _derivative_gain;
double _integral_gain;
double _alpha;
double _avg_error;
long long _integral_value;
} pid_controller;
void pid_controller_init(pid_controller *controller, u64 target_per_second, double proportional_gain, double integral_gain, double derivative_gain, int sampling_window, double cutoff_secs);
double pid_controller_compute(pid_controller *controller, u64 input, double time_delta_seconds);
#endif
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8 entries across 8 versions & 1 rubygems