1 files changed, 20 insertions, 0 deletions
diff --git a/zumo/pid.h b/zumo/pid.h
new file mode 100644
index 0000000..fbcd063
--- /dev/null
+++ b/zumo/pid.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "protocol.h"
+
+class PID {
+private:
+	float A0, A1, A2;
+	float error[3] = {0};
+	float dt = 0.010;
+	float output = 0;
+
+public:
+	PID(float P, float I, float D);
+	float iter(float target);
+	void reset(float value);
+};
+
+/** @brief edit `current` to be closer to `target` using PID controllers */
+void apply_pid(dui_state_t* target, dui_state_t* current);
+