liba 0.1.15

An algorithm library based on C/C++
Documentation 
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#include "a/pid_neuro.h"

void a_pid_neuro_set_kpid(a_pid_neuro *ctx, a_float k, a_float kp, a_float ki, a_float kd)
{
    a_pid_set_kpid(&ctx->pid, kp, ki, kd);
    ctx->k = k;
}

void a_pid_neuro_set_wpid(a_pid_neuro *ctx, a_float wp, a_float wi, a_float wd)
{
    ctx->wp = wp;
    ctx->wi = wi;
    ctx->wd = wd;
}

A_HIDDEN a_float a_pid_neuro_run_(a_pid_neuro *ctx, a_float set, a_float fdb, a_float err, a_float ec);
a_float a_pid_neuro_run(a_pid_neuro *ctx, a_float set, a_float fdb)
{
    a_float const err = set - fdb;
    return a_pid_neuro_run_(ctx, set, fdb, err, err - ctx->pid.err);
}
A_HIDDEN a_float a_pid_run_(a_pid *ctx, a_float set, a_float fdb, a_float err);
a_float a_pid_neuro_run_(a_pid_neuro *ctx, a_float set, a_float fdb, a_float err, a_float ec)
{
    a_pid_run_(&ctx->pid, set, fdb, err);
    ctx->ec = ec;
    return ctx->pid.out;
}

A_HIDDEN a_float a_pid_neuro_inc_(a_pid_neuro *ctx, a_float fdb, a_float err, a_float ec);
a_float a_pid_neuro_inc(a_pid_neuro *ctx, a_float set, a_float fdb)
{
    a_float const err = set - fdb;
    return a_pid_neuro_inc_(ctx, fdb, err, err - ctx->pid.err);
}
a_float a_pid_neuro_inc_(a_pid_neuro *ctx, a_float fdb, a_float err, a_float ec)
{
    a_float const var = ec - ctx->ec;
    a_float out = err * ctx->pid.out;
    ctx->wp += ctx->pid.kp * out * ctx->ec;
    ctx->wi += ctx->pid.ki * out * ctx->pid.err;
    ctx->wd += ctx->pid.kd * out * ctx->pid.var;
    out = A_ABS(ctx->wp) + A_ABS(ctx->wi) + A_ABS(ctx->wd);
    out = ctx->k * (ctx->wp * ec + ctx->wi * err + ctx->wd * var) / out;
    ctx->pid.out = A_SAT(out, ctx->pid.outmin, ctx->pid.outmax);
    ctx->pid.var = var;
    ctx->pid.fdb = fdb;
    ctx->pid.err = err;
    ctx->ec = ec;
    return ctx->pid.out;
}

void a_pid_neuro_zero(a_pid_neuro *ctx)
{
    a_pid_zero(&ctx->pid);
    ctx->ec = 0;
}