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#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);
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