//-------------------------------------------------------//
//        Project Code : CodeLibrary
//           File Name : PI_Ctrl.cpp
//          Created on : 2019. 06. 07.
//         Description : PI 제어기
//              Author : KimJeongWoo
//  Last modified Date :
//-------------------------------------------------------//

#include <CodeLibMath.h>
#include <DigitalCtrl/PiCtrl.h>



void sPiCtrl::Reset()
{
	Err = 0;
	fb = 0;
	Integ = 0;
	out = 0;
}

float sPiCtrl::Run()
{
	Integ += Ki * (Err - Ka * (fb - out));
//	Integ = LIMITER(Integ, PImax, PImin);
	fb = Integ + Kp * Err + ff;	 // PI
	out = LIMITER(fb, PiMax, PiMin);

	return out;
}

void sPiCtrl::Init(float mKp, float mKi, float mKa, float mWc, float mTprd, float mPI_Max, float mPI_Min)
{
	Kp = mKp;
	Ki = mKi;
	Ka = mKa;
	Wc = mWc;
	Tprd = mTprd;
	PiMax = mPI_Max;
	PiMin = mPI_Min;
}