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Unfancy PI controller with feedforward component

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README.md
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PI controller with feedforward component

  • init_controller(rate: float, min: float, max: float): PIControl
  • set_gain(control: var PIControl, kp: float, ki: float, kf: float): void
  • clear_gain(control: var PIControl): void
  • pause_i(control: var PIControl): void
  • resume_i(control: var PIControl): void
  • update(control: var PIControl, sp: float, pv: float, f: float = 0.0): float

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Unfancy PI controller with feedforward component

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