////
//// Created by ZK on 2023/3/14.
////
//
//#include "PID.h"
//
//float PID_Generate(PID *pid) {
//    pid->error = pid->target - pid->value;
//
//    if (pid->error > pid->errMin || pid->error < -pid->errMin)
//        pid->errSum += pid->error * pid->ki;
//
//    if (pid->errSum > pid->errSumMax)
//        pid->errSum = pid->errSumMax;
//    else if (pid->errSum < -pid->errSumMax)
//        pid->errSum = -pid->errSumMax;
//
//    pid->errDt = pid->error - pid->lastErr;
//    pid->lastErr = pid->error;
//
//    pid->result = pid->kp * pid->error + pid->errSum + pid->kd * pid->errDt;
//
//    if (pid->result > pid->valMax)
//        pid->result = pid->valMax;
//    else if (pid->result < -pid->valMax)
//        pid->result = -pid->valMax;
//}