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#include "gameCommon.h"
#ifndef PID_H
#define PID_H
// Hehehehe! PID CONTROLLER INDEED!
typedef struct PIDConfig {
float kP;
float kI;
float kD;
// Angles are fucking weird.
bool angleMode;
bool doClamp;
float min;
float max;
} PIDConfig;
typedef struct PID {
float p;
float i;
float d;
float kP;
float kI;
float kD;
bool angleMode;
bool doClamp;
float min;
float max;
float error;
float pastError;
float output;
} PID;
PID createPID(PIDConfig config);
float runPID(float setpoint, float processValue, PID * pid);
void resetPID(PID * pid);
// Angle shit.
float angleDis(float a, float b);
#endif
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