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/***
proportional integral derivative controller
@classmod a.pid
*/
#ifndef LUA_LIBA_PID_H
#define LUA_LIBA_PID_H
#include "a.h"
/***
proportional integral derivative controller
@field kp proportional constant
@field ki integral constant
@field kd derivative constant
@field summax maximum integral output
@field summin minimum integral output
@field sum controller integral output
@field outmax maximum final output
@field outmin minimum final output
@field out controller final output
@field fdb cache feedback
@field err cache error
@table a.pid
*/
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */
/***
constructor for PID controller
@treturn a.pid PID controller userdata
@function new
*/
int liba_pid_new(lua_State *L);
/***
initialize for PID controller
@treturn a.pid PID controller userdata
@function init
*/
int liba_pid_init(lua_State *L);
/***
set proportional integral derivative constant for PID controller
@tparam number kp proportional constant
@tparam number ki integral constant
@tparam number kd derivative constant
@treturn a.pid PID controller userdata
@function set_kpid
*/
int liba_pid_set_kpid(lua_State *L);
/***
calculate for PID controller
@tparam number set setpoint value
@tparam number fdb feedback value
@treturn number setpoint value
@function run
*/
int liba_pid_run(lua_State *L);
/***
calculate for positional PID controller
@tparam number set setpoint value
@tparam number fdb feedback value
@treturn number output value
@function pos
*/
int liba_pid_pos(lua_State *L);
/***
calculate for incremental PID controller
@tparam number set setpoint value
@tparam number fdb feedback value
@treturn number output value
@function inc
*/
int liba_pid_inc(lua_State *L);
/***
zeroing for PID controller
@treturn a.pid PID controller userdata
@function zero
*/
int liba_pid_zero(lua_State *L);
#if defined(__cplusplus)
} /* extern "C" */
#endif /* __cplusplus */
#endif /* pid.h */