#ifndef MODULES_PIDALGO_H_
#define MODULES_PIDALGO_H_
#include <stdint.h>

typedef struct
{
    float epsilon;
    float dt;
    float MAX;
    float MIN;
    float Kp;
    float Kd;
    float Ki;
    float IntegralErrorMultiplier;
    float ProportionalErrorMultiplier;

}PID_Config_Params;
float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral);

#endif /* MODULES_PIDALGO_H_ */