#ifndef __PID_H
#define __PID_H

#include <stdint.h>

typedef struct {
    float Kp;
    float Ki;
    float Kd;

    float integral;
    float prev_error;
    float output_min;
    float output_max;
    float integral_limit;       /* anti-windup */

    float out;                  /* latest output */
} PID;

void PID_Init(PID *pid, float Kp, float Ki, float Kd,
              float out_min, float out_max);

void PID_SetGains(PID *pid, float Kp, float Ki, float Kd);

float PID_Update(PID *pid, float setpoint, float measurement, float dt);

void PID_Reset(PID *pid);

#endif /* __PID_H */