/*
 * @Author: 张小明 zxm5337@163.com
 * @Date: 2024-06-25 10:26:36
 * @LastEditors: DaMingSY zxm5337@163.com
 * @LastEditTime: 2024-09-03 09:19:23
 * @FilePath: \controller-v2\User\lib\control\custom\cascade_pid_zh.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#ifndef __CASCADE_PID_ZH__
#define __CASCADE_PID_ZH__

#include "data_type_def.h"

typedef enum
{
    TARGET_DIR_ADD,
    TARGET_DIR_SUB,
} target_dir_e;

typedef struct
{
    float kp;
    float ki;
    float kd;

    float kup;
    float kui;
    float kud;
} fuzzy_pid_t;

typedef struct
{
    BOOL iDetach, sm_open, fuzzy_open;
    float feedBack;
    float target, maxTarget;
    float duty, kp, ki, kd;
    float error, dError, lastError, errorDead;
    float integral, iDetachCondation;
    float output, maxOutput;
    fuzzy_pid_t fuzzy_pid;
} smart_pid_t;

typedef struct
{
    smart_pid_t inner;
    smart_pid_t outer;
    float output;
} cascade_pid_t;

typedef struct CascadePID
{
    void (*smart_pid_init)(smart_pid_t *pid, float *duty, float *kp, float *ki, float *kd, float *errorDead, float *iDetachCondation, float *maxOut);
    void (*cascade_pid_init)(cascade_pid_t *pid, smart_pid_t *pid_outer, smart_pid_t *pid_inner);
    void (*smart_pid_calc)(smart_pid_t *pid, float *target, float *feedback);
    void (*cascade_pid_calc)(struct CascadePID *pid, float *outerRef, float *outerFdb, float *innerFdb);

    smart_pid_t smart_pid;
    cascade_pid_t cascade_pid;
} pid_zh1_t; // PID_t;

extern void pid_zh_constructor1(struct CascadePID *pid);

#endif