PIDBase.c

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#include <labust/control/PIDBase.h>

void PIDBase_init(PIDBase* self)
{
        self->autoWindup = 0;
        self->useBackward = 1;
        self->windup = 0;
        self->extWindup = 0;
        self->outputLimit = 0;
        self->Kp = self->Ki = 0;
        self->Kd = self->Tf = 0;
        self->Kt = 0;
        self->b = 1.0;

        self->internalState = self->output = self->I = 0;
        self->desired = self->state =0;
        self->lastError = self->lastRef = 0;
        self->lastFF = self->lastState = 0;
        self->lastI = 0; self->track = 0;
        self->llastError = self->llastState = 0;
        self->lastPError = 0;

        self->model.alpha = 0;
        self->model.beta = 0;
        self->model.betaa = 0;
        self->w = 0;
}

float sat(float u, float low, float high)
{
        if (u < low) return low;
        if (u > high) return high;
  return u;
}