Regelungstechnik.c

//

// Created by alexn on 23.06.2023.

//

#include "Regelungstechnik.h"

void config_Integrator(Integrator *data,float K){

    data->K = K;

}

void add_val_Integrator(Integrator *data,float newval,float dt){

    data->val += newval * data->K * dt;

}

void config_P(P *data,float K){

    data->K=K;

}

void recall_P(P *data,float val){

    data->val= val * data->K;

}

void config_PI(PI *data,float KP,float KI){

    config_P(&data->P,KP);

    config_Integrator(&data->I,KI);

}

void add_val_PI(PI *data,float newval, float dt){

    add_val_Integrator(&data->I,newval,dt);

    recall_P(&data->P,newval);

    data->val=data->P.val+data->I.val;

}