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#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);
float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral);
#endif /* MODULES_PIDALGO_H_ */
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